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Rita Ramos, Duarte, M., Oliveira, S. & Christensen, A. L. (2016). Evolving Controllers for Robots with Multimodal Locomotion. From Animals to Animats 14. LNCS 9825, 340-351

R. Ramos et al.,  "Evolving Controllers for Robots with Multimodal Locomotion", in From Animals to Animats 14, Aberystwyth, UK, vol. LNCS 9825, pp. 340-351, 2016

@misc{ramos2016_1766733468774,
	author = "Rita Ramos and Duarte, M. and Oliveira, S. and Christensen, A. L.",
	title = "Evolving Controllers for Robots with Multimodal Locomotion",
	year = "2016",
	howpublished = "Ambos (impresso e digital)",
	url = "http://link.springer.com/chapter/10.1007/978-3-319-43488-9_30"
}

TY  - CPAPER
TI  - Evolving Controllers for Robots with Multimodal Locomotion
T2  - From Animals to Animats 14
VL  - LNCS 9825
AU  - Rita Ramos
AU  - Duarte, M.
AU  - Oliveira, S.
AU  - Christensen, A. L.
PY  - 2016
SP  - 340-351
SN  - 978-3-319-43487-2
CY  - Aberystwyth, UK
UR  - http://link.springer.com/chapter/10.1007/978-3-319-43488-9_30
AB  - Animals have inspired numerous studies on robot locomotion, but the problem of how autonomous robots can learn to take advantage of multimodal locomotion remains largely unexplored. In this paper, we study how a robot with two different means of locomotion can effective learn when to use each one based only on the limited information it can obtain through its onboard sensors. We conduct a series of simulation-based experiments using a task where a wheeled robot capable of jumping has to navigate to a target destination as quickly as possible in environments containing obstacles. We apply evolutionary techniques to synthesize neural controllers for the robot, and we analyze the evolved behaviors. The results show that the robot succeeds in learning when to drive and when to jump. The results also show that, compared with unimodal locomotion, multimodal locomotion allows for simpler and higher performing behaviors to evolve.
ER  -