Evolving Reactive Controller for a Modular Robot: Benefits of the Property of State-Switching in Fractal Gene Regulatory Networks
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چکیده
In this paper, we study Fractal Gene Regulatory Networks (FGRNs) evolved as local controllers for a modular robot in snake topology that reacts adaptively to environment. The task is to have the robot moving in a specific direction until it reaches a randomly placed targetzone and stays there. We point to a characteristic of FGRN model, namely “state-switching property” and demonstrate it as a beneficial property in evolving reactive controllers.
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تاریخ انتشار 2012