Co-Evolution of Form and Function in the Design of Autonomous Agents: Micro Air Vehicle Project.

摘要

This paper addresses issues of co-evolution of form and function for autonomous vehicles specifically evolving morphology and control for an autonomous micro air vehicle (MAV). The evolution of an optimal minimum sensor suite and reactive strategies for navigation and collision avoidance for the simulated MAV is described. The details of the implementation of the simulated aircraft, the environment, and the two cooperating genetic algorithm-based systems, SAMUEL and Genesis, used for evolution, are presented, as are preliminary results.