Tyrrell,"Evolution and Analysis of a Robot Controller Based on Gene Regulatory Network, Evolvable Systems", Biology to Hardware,Vol. 6274

Abstract. This paper explores the application of an artificial develop-mental system (ADS) to the field of evolutionary robotics by investi-gating the capability of a gene regulatory network (GRN) to specify a general purpose obstacle avoidance controller both in simulation and on a real robot. Experiments are carried out using the e-puck robot plat-form. It is further proposed to use cross-correlation between inputs and outputs in order to assess the quality of robot controllers more accurately than with observing its behaviour alone.