Evolution of Adaptive Behaviour in Robots by Means of Darwinian Selection 英文参考文献.docVIP

Essay EvolutionofAdaptiveBehaviourinRobotsbyMeansof DarwinianSelection DarioFloreano1*,LaurentKeller2* 1Laboratory of Intelligent Systems, Ecole Polytechnique Fe′de′rale de Lausanne (EPFL), Lausanne, Switzerland, 2Department of Ecology and Evolution, University of Lausanne,Biophore,Lausanne,Switzerland Ever since Cicero’s De Natura Deorum ii.34., humans have been intrigued by the origin and mechanisms underlying complexity in nature. Darwin suggested that adaptation and complexity could evolve by natural selection acting suc- cessively on numerous small, heritable modifications. But isthis enough? Here, we describe selected studies of experi- mental evolution withrobots toillustrate how the process of natural selection can lead to the evolution of complex traits such as adaptive behaviours. Just a few hundred generations of selection are sufficient to allow robots to evolve collision-free movement, homing, so- phisticated predator versus prey strate- gies, coadaptation of brains and bodies, cooperation, and even altruism. In all casesthisoccurred viaselection inrobots controlled by a simple neural network, which mutated randomly. andbodymorphologies,andcooperate.We presentmostly—butnotonly—experimental results performed in our laboratory, which satisfy the following criteria. First, the experimentswereatleastpartlycarriedout with real robots, allowing us to present a videoshowingthebehavioursoftheevolved robots.Second,therobot’sneuralnetworks had a simple architecture with no synaptic plasticity,noontogeneticdevelopment,and no detailed modelling of ion channels and spiketransmission.Third,thegenomeswere directlymappedintotheneuralnetwork(i.e., nogene-to-geneinteraction,time-dependent dynamics, or ontogenetic plasticity). By limitingouranalysistothesestudiesweare abletohighlightthestrengthoftheprocessof Darwinian selection in comparable simple systems exposed to different environmental conditions.Therehavebeennumerousother studiesofexperimentalevolution