Article

Robustness analysis of genetic programming controllers for unmanned aerial vehicles

Authors:

Gregory J. Barlow,

Choong K. OhAuthors Info & Claims

GECCO '06: Proceedings of the 8th annual conference on Genetic and evolutionary computation

Pages 135 - 142

https://doi.org/10.1145/1143997.1144023

Published: 08 July 2006 Publication History

Abstract

While evolving evolutionary robotics controllers for real vehicles is an active area of research, most research robots do not require any assurance prior to operation that an evolved controller will not damage the vehicle. For controllers evolved in simulation where testing a poorly performing controller might damage the vehicle, thorough testing in simulation - subject to multiple sources of sensor and state noise - is required. Evolved controllers must be robust to noise in the environment in order to operate the vehicle safely. We have evolved navigation controllers for unmanned aerial vehicles in simulation using multi-objective genetic programming, and in order to choose the best evolved controller and to assure that this controller will perform well under a variety of environmental conditions, we have performed a series of robustness tests. The results show that our best evolved controller outperforms two hand-designed controllers and is robust to many sources of noise.

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Cited By

Chokwitthaya CZhu YMukhopadhyay S(2021)Robustness analysis framework for computations associated with building performance models and immersive virtual experimentsAdvanced Engineering Informatics10.1016/j.aei.2021.10140150:COnline publication date: 1-Oct-2021
https://dl.acm.org/doi/10.1016/j.aei.2021.101401
Nelson ABarlow GDoitsidis L(2009)Fitness functions in evolutionary roboticsRobotics and Autonomous Systems10.1016/j.robot.2008.09.00957:4(345-370)Online publication date: 1-Apr-2009
https://dl.acm.org/doi/10.1016/j.robot.2008.09.009
Barlow GOh CSmith SRyan C(2008)Evolving cooperative control on sparsely distributed tasks for UAV teams without global communicationProceedings of the 10th annual conference on Genetic and evolutionary computation10.1145/1389095.1389125(177-184)Online publication date: 13-Jul-2008
https://dl.acm.org/doi/10.1145/1389095.1389125

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Robustness analysis of genetic programming controllers for unmanned aerial vehicles

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cover image ACM Conferences

GECCO '06: Proceedings of the 8th annual conference on Genetic and evolutionary computation

July 2006

2004 pages

ISBN:1595931864

DOI:10.1145/1143997

General Chair:
Mike Cattolico
Tiger Mountain Scientific, Inc., USA

Copyright © 2006 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Published: 08 July 2006

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GECCO06: Genetic and Evolutionary Computation Conference

July 8 - 12, 2006

Washington, Seattle, USA

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GECCO '06 Paper Acceptance Rate 205 of 446 submissions, 46%;

Overall Acceptance Rate 1,669 of 4,410 submissions, 38%

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Cited By

Chokwitthaya CZhu YMukhopadhyay S(2021)Robustness analysis framework for computations associated with building performance models and immersive virtual experimentsAdvanced Engineering Informatics10.1016/j.aei.2021.10140150:COnline publication date: 1-Oct-2021
https://dl.acm.org/doi/10.1016/j.aei.2021.101401
Nelson ABarlow GDoitsidis L(2009)Fitness functions in evolutionary roboticsRobotics and Autonomous Systems10.1016/j.robot.2008.09.00957:4(345-370)Online publication date: 1-Apr-2009
https://dl.acm.org/doi/10.1016/j.robot.2008.09.009
Barlow GOh CSmith SRyan C(2008)Evolving cooperative control on sparsely distributed tasks for UAV teams without global communicationProceedings of the 10th annual conference on Genetic and evolutionary computation10.1145/1389095.1389125(177-184)Online publication date: 13-Jul-2008
https://dl.acm.org/doi/10.1145/1389095.1389125

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