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Evolution of spiking neural circuits in autonomous mobile robots

โœ Scribed by Dario Floreano; Yann Epars; Jean-Christophe Zufferey; Claudio Mattiussi

Publisher
John Wiley and Sons
Year
2006
Tongue
English
Weight
341 KB
Volume
21
Category
Article
ISSN
0884-8173

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โœฆ Synopsis

We describe evolution of spiking neural architectures to control navigation of autonomous mobile robots. Experimental results with simple fitness functions indicate that evolution can rapidly generate spiking circuits capable of navigating in textured environments with simple genetic representations that encode only the presence or absence of synaptic connections. Building on those results, we then describe a low-level implementation of evolutionary spiking circuits in tiny microcontrollers that capitalizes on compact genetic encoding and digital aspects of spiking neurons. The implementation is validated on a sugar-cube robot capable of developing functional spiking circuits for collision-free navigation.

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