Edgar Buchanan
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View article: EvoDevo: Bioinspired Generative Design via Evolutionary Graph-Based Development
EvoDevo: Bioinspired Generative Design via Evolutionary Graph-Based Development Open
Automated generative design is increasingly used across engineering disciplines to accelerate innovation and reduce costs. Generative design offers the prospect of simplifying manual design tasks by exploring the efficacy of solutions auto…
View article: Towards a Unified Framework for Software-Hardware Integration in Evolutionary Robotics
Towards a Unified Framework for Software-Hardware Integration in Evolutionary Robotics Open
The discrepancy between simulated and hardware experiments, the reality gap, is a challenge in evolutionary robotics. While strategies have been proposed to address this gap in fixed-body robots, they are not viable when dealing with popul…
View article: Understanding Fitness Landscapes in Morpho-Evolution via Local Optima Networks
Understanding Fitness Landscapes in Morpho-Evolution via Local Optima Networks Open
Morpho-Evolution (ME) refers to the simultaneous optimisation of a robot's design and controller to maximise performance given a task and environment. Many genetic encodings have been proposed which are capable of representing design and c…
View article: An Investigation of the Factors Influencing Evolutionary Dynamics in the Joint Evolution of Robot Body and Control
An Investigation of the Factors Influencing Evolutionary Dynamics in the Joint Evolution of Robot Body and Control Open
In evolutionary robotics, jointly optimising the design and the controller of robots is a challenging task due to the huge complexity of the solution space formed by the possible combinations of body and controller. We focus on the evoluti…
View article: Understanding fitness landscapes in morpho-evolution via local optima networks
Understanding fitness landscapes in morpho-evolution via local optima networks Open
Morpho-evolution (ME) refers to the simultaneous optimisation of a robot's design and controller to maximise performance given a task and environment. Many genetic encodings have been proposed which are capable of representing design and c…
View article: Evolving Novel Gene Regulatory Networks for Structural Engineering Designs
Evolving Novel Gene Regulatory Networks for Structural Engineering Designs Open
Engineering design optimization poses a significant challenge, usually requiring human expertise to discover superior solutions. Although various search techniques have been employed to generate diverse designs, their effectiveness is ofte…
View article: Evaluation of Frameworks That Combine Evolution and Learning to Design Robots in Complex Morphological Spaces
Evaluation of Frameworks That Combine Evolution and Learning to Design Robots in Complex Morphological Spaces Open
Jointly optimising both the body and brain of a robot is known to be a challenging task, especially when attempting to evolve designs in simulation that will subsequently be built in the real world. To address this, it is increasingly comm…
View article: Practical hardware for evolvable robots
Practical hardware for evolvable robots Open
The evolutionary robotics field offers the possibility of autonomously generating robots that are adapted to desired tasks by iteratively optimising across successive generations of robots with varying configurations until a high-performin…
View article: A study of error diversity in robotic swarms for task partitioning in foraging tasks
A study of error diversity in robotic swarms for task partitioning in foraging tasks Open
Often in swarm robotics, an assumption is made that all robots in the swarm behave the same and will have a similar (if not the same) error model. However, in reality, this is not the case, and this lack of uniformity in the error model, a…
View article: Morpho Evolution With Learning Using a Controller Archive as an Inheritance Mechanism
Morpho Evolution With Learning Using a Controller Archive as an Inheritance Mechanism Open
Most work in evolutionary robotics centres on evolving a controller for a fixed body-plan. However, previous studiessuggest that simultaneously evolving both controller and body-plan could open up many interesting possibilities. However, t…
View article: Morpho-evolution with learning using a controller archive as an inheritance mechanism
Morpho-evolution with learning using a controller archive as an inheritance mechanism Open
The joint optimisation of body-plan and control via evolutionary processes can be challenging in rich morphological spaces in which offspring can have body-plans that are very different from either of their parents. This causes a potential…
View article: Bootstrapping Artificial Evolution to Design Robots for Autonomous Fabrication
Bootstrapping Artificial Evolution to Design Robots for Autonomous Fabrication Open
A long-term vision of evolutionary robotics is a technology enabling the evolution of entire autonomous robotic ecosystems that live and work for long periods in challenging and dynamic environments without the need for direct human oversi…
View article: Hardware Design for Autonomous Robot Evolution
Hardware Design for Autonomous Robot Evolution Open
The long term goal of the Autonomous Robot Evolution (ARE) project is to create populations of physical robots, in which both the controllers and body plans are evolved. The transition for evolutionary designs from purely simulation enviro…
View article: Evolution of Diverse, Manufacturable Robot Body Plans
Evolution of Diverse, Manufacturable Robot Body Plans Open
Advances in rapid prototyping have opened up new avenues of research within Evolutionary Robotics in which not only controllers but also the body plans (morphologies) of robots can evolve in real-time and real-space. However, this also int…
View article: Sample and time efficient policy learning with CMA-ES and Bayesian Optimisation
Sample and time efficient policy learning with CMA-ES and Bayesian Optimisation Open
In evolutionary robot systems where morphologies and controllers of real robots are simultaneously evolved, it is clear that there is likely to be requirements to refine the inherited controller of a 'newborn' robot in order to better alig…
View article: Comparing encodings for performance and phenotypic exploration in evolving modular robots
Comparing encodings for performance and phenotypic exploration in evolving modular robots Open
To investigate how encodings influence evolving the morphology and control of modular robots, we compared three encodings: a direct encoding and two generative encodings-a compositional pattern producing network (CPPN) and a Lindenmayer Sy…
View article: The ARE Robot Fabricator: How to (Re)produce Robots that Can Evolve in the Real World
The ARE Robot Fabricator: How to (Re)produce Robots that Can Evolve in the Real World Open
The long term vision of the Autonomous Robot Evolution (ARE) project is to create an ecosystem of both virtual and physical robots with evolving brains and bodies. One of the major challenges for such a vision is the need to construct many…