SUB-TASK FORCE #2 Organism Control: Implementation Plan

Goal

General: Over the next three weeks, we'll be testing and comparing our
controllers: Juergen will perform trials with the AHHS controller,
Florian with his CPG controller, Yao with his GRN controller and Evert
with CPG controller.
For now, distance travelled per timespan is used as fitness measure and
the only goal is to have the organisms walk as long a trail as possible,
which may be circuitous. This is not the same as distance from origin.

who: Evert, Florian, Yao-Yao, Anne(helps with robot3d), J├╝rgen

For each controller:

  • on-line, on-board adaptation/evolution

The controllers must adapt after the organism shape has formed to fit the controller to the body
shape. This must be done autonomously by the robots themselves.
"On-board" depends on the used simulator platform (which is variable
till 30. Nov.): some will be equipped of "self-location" of robots,
others not. As long as we are allowed to use any simulator - on-line
should be enough to be shown.

  • Robustness

The shape of the organism is not, and cannot be, known a
priori. The ideal controller produces locomotion for any arbitrary
shape. Suggestion: single module, I, X and H-like?

  • Reactive

The controller should be able to take sensory input into
account, for instance to develop obstacle avoidance behaviour. Starting
the tests with an arena surrounded with walls.

  • Effective

Organisms must locmote using the controller.

Workplan of single approaches

CPG controller (Evert)

  • with a number of body shapes, irregular as well as symmetric
  • in an arena as we will have in the experiment: with walls, single

modules and other organisms as obstacles.

CPG controller(Florian)

First step is to get the simulation running with the current
implementation of the CPG. The next step is to validate the performance of
theCPG algorithms and evaluate according to the criterions stated. We
will use straight locomotion of several fixed organism structures and
measure the moved distance as fitness.

GRN controller (YaoYao)

The first step is testing the GRN controller with a number of shapes of organisms
in a simplified simulation and then getting the official Robot3D simulator
running (need some helps from Anne). After that, we plan to design an exploration
scenario and tested the scenario on the Robot3D. In the scenario,
the exploration range and the time factor will be considered as a fitness to organisms.

AHHS controller (Juergen)

The first step of the Graz group will be
to test the on-line evolution ability of the AHHS approach. This will
be done in an abstract and simple simulator called FEP. This first
test of feasibility study will even be conducted with single robot
modules with a fitness function of covered distance as it had been
agreed before.

During conduction of this first experiment we will additionally follow
two strategies: Getting the official Robot3D simulator running (with
help of Anne), so that the on-line evolution of AHHS can be tested
with robot organisms in the simulator. Also, after having finished the
feasibility study we will implement our scenario (using eggs and
"intrinsic fitness") within FEP.

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