Jakobi, Nick, and Matthew Quinn. “Some problems (and a few solutions) for open-ended evolutionary robotics.” In European Workshop on Evolutionary Robotics , pp. 108-122. Springer, Berlin, Heidelberg, 1998.
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Many of the techniques commonly used to evolve neural networks for robots face various problems if the size and morphology of these networks are allowed to vary under evolutionary control. This paper identifies some of these problems for commonly used encoding schemes, neural networks, genetic operators and evaluation techniques and proposes some new techniques that may be used to alleviate them. Results from experiments are reported in which these new techniques were combined for the open-ended evolution of a many-faceted robot behaviour.