Speciation in Behavioral Space for Evolutionary Robotics

In Evolutionary Robotics, population-based evolutionary computation is used to design robot neurocontrollers that produce behaviors which allow the robot to fulfill a user-defined task. However, the standard approach is to use canonical evolutionary algorithms, where the search tends to make the evolving population converge towards a single behavioral solution, even if the high-level task could be accomplished by structurally different behaviors. In this work, we present an approach that preserves behavioral diversity within the population in order to produce a diverse set of structurally different behaviors that the robot can use. In orLeonardo Trujillo Instituto Tecnológico de Tijuana, Av. Tecnolǵico, Fracc. Tomás Aquino, Tijuana, B.C., México Tel.: +52-664-6827229 E-mail: [email protected] Gustavo Olague Proyecto Evovisión, Departamento de Ciencias de la Computación, División de Fı́sica Aplicada, Centro de Investigación Cientı́fica y de Educación Superior de Ensenada, Km. 107 Carretera Tijuana-Ensenada, 22860, Ensenada, BC, México. E-mail: [email protected] Evelyne Lutton AVIZ Team at INRIA Saclay Ile de-France, Bat. 490, Université Paris-Sud, 91405 Orsay CEDEX, France, E-mail: [email protected] Francisco Fernández de Vega Grupo de Evolución Artificial, Universidad de Extremadura, Centro Universitario deMérida C/Sta Teresa de Jornet, 38, 06800, Merida, Spain E-mail: [email protected] León Dozal Proyecto Evovisión, Departamento de Ciencias de la Computación, División de Fı́sica Aplicada, Centro de Investigación Cientı́fica y de Educación Superior de Ensenada, Km. 107 Carretera Tijuana-Ensenada, 22860, Ensenada, BC, México. E-mail: [email protected] Eddie Clemente Tecnológico de Estudios Superiores de Ecatepec, Ave. Carlos Hank Gonzalez Esq. Ave. Tecnológico S/N, Col. Valle de Anahuac, Ecatepec de Morelos, Edo. de México. E-mail: [email protected]