%0 Conference Paper %1 Prokopenko:2006:SAB %A Prokopenko, Mikhail %A Gerasimov, Vadim %A Tanev, Ivan %B From Animals to Animats 9: 9th International Conference on the Simulation of Adaptive Behavior (SAB 2006) %C Rome, Italy %D 2006 %E Nolfi, Stefano %E Baldassarre, Gianluca %E Calabretta, Raffaele %E Hallam, John C. T. %E Marocco, Davide %E Meyer, Jean-Arcady %E Miglino, Orazio %E Parisi, Domenico %I Springer %K algorithms, coordination, entropy genetic programming, spatiotemporal %P 558--569 %R doi:10.1007/11840541_46 %T Evolving Spatiotemporal Coordination in a Modular Robotic System %U http://www.ict.csiro.au/staff/mikhail.prokopenko/Publications/Agents/snakebot-corrected.pdf %V 4095 %X In this paper we present a novel information-theoretic measure of spatiotemporal coordination in a modular robotic system, and use it as a fitness function in evolving the system. This approach exemplifies a new methodology formalising co-evolution in multi-agent adaptive systems: information-driven evolutionary design. The methodology attempts to link together different aspects of information transfer involved in adaptive systems, and suggests to approximate direct task-specific fitness functions with intrinsic selection pressures. In particular, the information-theoretic measure of coordination employed in this work estimates the generalised correlation entropy K2 and the generalized excess entropy E2 computed over a multivariate time series of actuators' states. The simulated modular robotic system evolved according to the new measure exhibits regular locomotion and performs well in challenging terrains. %@ 3-540-38608-4

@inproceedings{Prokopenko:2006:SAB, abstract = {In this paper we present a novel information-theoretic measure of spatiotemporal coordination in a modular robotic system, and use it as a fitness function in evolving the system. This approach exemplifies a new methodology formalising co-evolution in multi-agent adaptive systems: information-driven evolutionary design. The methodology attempts to link together different aspects of information transfer involved in adaptive systems, and suggests to approximate direct task-specific fitness functions with intrinsic selection pressures. In particular, the information-theoretic measure of coordination employed in this work estimates the generalised correlation entropy K2 and the generalized excess entropy E2 computed over a multivariate time series of actuators' states. The simulated modular robotic system evolved according to the new measure exhibits regular locomotion and performs well in challenging terrains.}, added-at = {2008-06-19T17:35:00.000+0200}, address = {Rome, Italy}, author = {Prokopenko, Mikhail and Gerasimov, Vadim and Tanev, Ivan}, bibsource = {DBLP, http://dblp.uni-trier.de}, biburl = {https://www.bibsonomy.org/bibtex/25b138856f355e8a39eea09270caa9ba1/brazovayeye}, booktitle = {From Animals to Animats 9: 9th International Conference on the Simulation of Adaptive Behavior (SAB 2006)}, doi = {doi:10.1007/11840541_46}, editor = {Nolfi, Stefano and Baldassarre, Gianluca and Calabretta, Raffaele and Hallam, John C. T. and Marocco, Davide and Meyer, Jean-Arcady and Miglino, Orazio and Parisi, Domenico}, interhash = {0099a49b9f2adf1166470aa8e1e826ed}, intrahash = {5b138856f355e8a39eea09270caa9ba1}, isbn = {3-540-38608-4}, keywords = {algorithms, coordination, entropy genetic programming, spatiotemporal}, month = {25-29 September}, notes = {http://www.sab06.org/}, pages = {558--569}, publisher = {Springer}, series = {Lecture Notes in Computer Science}, size = {12 pages}, timestamp = {2008-06-19T17:49:53.000+0200}, title = {Evolving Spatiotemporal Coordination in a Modular Robotic System}, url = {http://www.ict.csiro.au/staff/mikhail.prokopenko/Publications/Agents/snakebot-corrected.pdf}, volume = 4095, year = 2006 }