The distributed co-evolution of an embodied simulator and controller for swarm robot behaviours
O'Dowd, P. , Winfield, A. F. and Studley, M. (2011) The distributed co-evolution of an embodied simulator and controller for swarm robot behaviours. In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011), San Francisco, USA, 25th - 30th September, 2011., pp. 4995-5000
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Embodied fitness assessment of robotic controllers is slow but grounded, while assessment in a simulated environment is fast but can run foul of the ‘reality gap’. We present a distributed co-evolutionary method to adapt the environmental model of an on-board simulator within the context of swarm robotics.
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