A self-organized one-neuron controller for artificial life on wheels

  • We study simulated animats in terms of wheeled robots with the most simple neural controller possible – a single neuron per actuator. The system is fully self-organized in the sense that the controlling neuron receives uniquely the actual angle of the wheel as an input. Non-trivial locomotion results in structured environments, with the robot determining autonomously the direction of movement (time-reversal symmetry is spontaneously broken). Our controller, which mimics the mechanism used to transmit power in steam locomotives, abstracts from the body plan of the animat, working without problems also in the presence of noise and for chains of individual two-wheeled cars. Being fully compliant our controller may be also used, in the spirit of morphological computation, as a basic unit for higher-level evolutionary algorithms.

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Author:Claudius GrosORCiDGND, Laura Martin, Bulcsú Sándor
Parent Title (German):Proceedings of the 14th European Conference on Artificial Life ECAL 2017, Lyon, France, 4-8 September 2017
Publisher:MIT Press
Place of publication:Cambridge
Document Type:Conference Proceeding
Year of Completion:2017
Year of first Publication:2017
Publishing Institution:Universitätsbibliothek Johann Christian Senckenberg
Release Date:2020/08/24
Page Number:2
First Page:184
Last Page:185
This work is licensed to the public under a Creative Commons Attribution - NonCommercial - NoDerivatives 4.0 license (international): http://creativecommons.org/licenses/by-nc-nd/4.0/
Institutes:Physik / Physik
Dewey Decimal Classification:0 Informatik, Informationswissenschaft, allgemeine Werke / 00 Informatik, Wissen, Systeme / 004 Datenverarbeitung; Informatik
Licence (German):License LogoCreative Commons - Namensnennung-Nicht kommerziell - Keine Bearbeitung 4.0