The Automatic Generations of Plans for a Mobile Robot via Genetic Programming with Automatically Defined Functions   [MR] [GP] [ADF]

by

Handley, S., G.

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Info: Advances in Genetic Programming, 1994, p. 391-407
Keywords:genetic algorithms, genetic programming
Abstract:
Planning is the creation of programs to control an agent, such as a robot. Traditionally, planners have maintained a logical model of the agent's world and planned by reasoning about what plans do to that world. In this chapter I describe a new planner, the Genetic Planner, that uses artificial selection, sexual mixing (recombination) and fitness proportionate reproduction to breed computer programs (i.e., to plan). This planner uses a simulation of the world to execute candidate computer programs (i.e., candidate plans). I first describe this planner and then I show it at work on a simple problem---a robot on a 2-D grid. Also, Koza's Automatically Defined Functions (ADFs) [ADF] are used and the results compared with the non-ADF genetic programming system. [GP]
Notes:
Move about 49 by 49 world, move boxes, fails to switch on light. Describes Genetic Planner (=GP plus fitness function based upon hiow close to succeeding multiple predicates are)
URL(s):(G)zipped postscript

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BibTex:
@InCollection{kinnear:handley,
  title =        "The Automatic Generations of Plans for a Mobile Robot
                 via Genetic Programming with Automatically Defined
                 Functions",
  author =       "Simon G. Handley",
  booktitle =    "Advances in Genetic Programming",
  publisher =    "MIT Press",
  editor =       "Kenneth E. {Kinnear, Jr.}",
  year =         "1994",
  chapter =      "18",
  pages =        "391--407",
  keywords =     "genetic algorithms, genetic programming",
  size =         "17 pages",
  URL =          "http://www-leland.stanford.edu/~shandley/postscript/kinnear.ps.gz",
  abstract =     "Planning is the creation of programs to control an
                 agent, such as a robot. Traditionally, planners have
                 maintained a logical model of the agent's world and
                 planned by reasoning about what plans do to that world.
                 In this chapter I describe a new planner, the Genetic
                 Planner, that uses artificial selection, sexual mixing
                 (recombination) and fitness proportionate reproduction
                 to breed computer programs (i.e., to plan). This
                 planner uses a simulation of the world to execute
                 candidate computer programs (i.e., candidate plans). I
                 first describe this planner and then I show it at work
                 on a simple problem---a robot on a 2-D grid. Also,
                 Koza's Automatically Defined Functions (ADFs) are used
                 and the results compared with the non-ADF genetic
                 programming system.",
  notes =        "

                 Move about 49 by 49 world, move boxes, fails to switch
                 on light. Describes Genetic Planner (=GP plus fitness
                 function based upon hiow close to succeeding multiple
                 predicates are)

                 ",
}