A comparative analysis on genome pleiotropy for evolved soft robots
- Author
- Dries Marzougui (UGent) , Matthijs Biondina (UGent) and Francis wyffels (UGent)
- Organization
- Abstract
- Biological evolution shapes the body and brain of living creatures together over time. By contrast, in evolutionary robotics, brain-body co-optimization remains challenging. Conflicting mutations cause dissociation between morphology and control, which leads to premature convergence. Recent works have proposed algorithmic modifications to mitigate the impact of conflicting mutations. However, the importance of genetic design remains underexposed. Current approaches are divided between a single, pleiotropic genetic encoding and two isolated encodings representing morphology and control. This design choice is commonly made ad hoc, causing a lack of consistency for practitioners. To standardize this design, we performed a comparative analysis between these two configurations and two previously unexplored alternatives on a soft robot locomotion task.
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Citation
Please use this url to cite or link to this publication: http://hdl.handle.net/1854/LU-01GMVB03HPS4KRYGQZYM4B3XDS
- MLA
- Marzougui, Dries, et al. “A Comparative Analysis on Genome Pleiotropy for Evolved Soft Robots.” Faculty of Engineering and Architecture Research Symposium 2022 (FEARS 2022), Abstracts, 2022, doi:10.5281/zenodo.7400557.
- APA
- Marzougui, D., Biondina, M., & wyffels, F. (2022). A comparative analysis on genome pleiotropy for evolved soft robots. Faculty of Engineering and Architecture Research Symposium 2022 (FEARS 2022), Abstracts. Presented at the Faculty of Engineering and Architecture Research Symposium 2022 (FEARS 2022), Ghent, Belgium. https://doi.org/10.5281/zenodo.7400557
- Chicago author-date
- Marzougui, Dries, Matthijs Biondina, and Francis wyffels. 2022. “A Comparative Analysis on Genome Pleiotropy for Evolved Soft Robots.” In Faculty of Engineering and Architecture Research Symposium 2022 (FEARS 2022), Abstracts. https://doi.org/10.5281/zenodo.7400557.
- Chicago author-date (all authors)
- Marzougui, Dries, Matthijs Biondina, and Francis wyffels. 2022. “A Comparative Analysis on Genome Pleiotropy for Evolved Soft Robots.” In Faculty of Engineering and Architecture Research Symposium 2022 (FEARS 2022), Abstracts. doi:10.5281/zenodo.7400557.
- Vancouver
- 1.Marzougui D, Biondina M, wyffels F. A comparative analysis on genome pleiotropy for evolved soft robots. In: Faculty of Engineering and Architecture Research Symposium 2022 (FEARS 2022), Abstracts. 2022.
- IEEE
- [1]D. Marzougui, M. Biondina, and F. wyffels, “A comparative analysis on genome pleiotropy for evolved soft robots,” in Faculty of Engineering and Architecture Research Symposium 2022 (FEARS 2022), Abstracts, Ghent, Belgium, 2022.
@inproceedings{01GMVB03HPS4KRYGQZYM4B3XDS,
abstract = {{Biological evolution shapes the body and brain of living creatures together over time. By contrast, in evolutionary robotics, brain-body co-optimization remains challenging. Conflicting mutations cause dissociation between morphology and control, which leads to premature convergence. Recent works have proposed algorithmic modifications to mitigate the impact of conflicting mutations. However, the importance of genetic design remains underexposed. Current approaches are divided between a single, pleiotropic genetic encoding and two isolated encodings representing morphology and control. This design choice is commonly made ad hoc, causing a lack of consistency for practitioners. To standardize this design, we performed a comparative analysis between these two configurations and two previously unexplored alternatives on a soft robot locomotion task.}},
author = {{Marzougui, Dries and Biondina, Matthijs and wyffels, Francis}},
booktitle = {{Faculty of Engineering and Architecture Research Symposium 2022 (FEARS 2022), Abstracts}},
language = {{eng}},
location = {{Ghent, Belgium}},
pages = {{1}},
title = {{A comparative analysis on genome pleiotropy for evolved soft robots}},
url = {{http://doi.org/10.5281/zenodo.7400557}},
year = {{2022}},
}
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