Evolving reactive controller for a modular robot: Benefits of the property of state-switching in fractal gene regulatory networks

Abstract

In this paper, we study Fractal Gene Regulatory Networks (FGRNs) evolved as local controllers for a modular robot in snake topology that reacts adaptively to environment. The task is to have the robot moving in a specific direction until it reaches a randomly placed target-zone and stays there. We point to a characteristic of FGRN model, namely "state-switching property" and demonstrate it as a beneficial property in evolving reactive controllers. © 2012 Springer-Verlag.