UK-RAS2022_proceedings_Paper-8.pdf (7.37 MB)
Evolving complex terrain navigation: emergent contour following from a low-resolution sensor
conference contribution
posted on 2023-06-10, 05:58 authored by Dexter ShepherdDexter Shepherd, James KnightJames KnightThis paper investigates evolutionary approaches to enable robotic agents to learn strategies for energy-efficient navigation through complex terrain, consisting of water and different heights. Agents, equipped with a low-resolution depth sensor, must learn how to navigate between a randomly chosen start/end position in a procedurally generated world, along a path which minimises energy usage. The solution that consistently emerged, was an agent that followed the contours of the map, resulting in near-optimal performance in little evolutionary time. Further, initial experiments with a real robot and Kinect sensor showed that the simulated model successfully predicted the correct movement that would be needed to follow contours. This demonstrated both that the evolved strategies are robust to noise and capable of crossing the reality gap. We suggest that this robustness is due to the use of a low-resolution sensor.
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Publication status
- Published
File Version
- Published version
Journal
UKRAS22 Conference "Robotics for Unconstrained Environments" ProceedingsISSN
2516-502XPublisher
EPSRC UK-RAS NetworkExternal DOI
Volume
5Page range
20-21Event name
UKRAS22 Conference "Robotics for Unconstrained Environments"Event location
Aberystwyth UniversityEvent type
conferenceEvent date
26th August 2022.Department affiliated with
- Informatics Publications
Full text available
- Yes
Peer reviewed?
- Yes
Legacy Posted Date
2023-01-13First Open Access (FOA) Date
2023-01-13First Compliant Deposit (FCD) Date
2023-01-13Usage metrics
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