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Embodied Evolution and Evolution of Organisms

Before discussing the details of previous and similar systems it is useful to establish a framework for the type of systems in this thesis. A general scheme for traditional evolutionary robotics is displayed in Figure 2.1a. A population of μ candidates is maintained on an external computer. One by one each candidate genome is decoded into a controller and allowed to drive the robot a certain amount of time, the fitness evaluation period (τ). After evaluation the fitness is reported back to the computer. When all candidates have been evaluated survivors are selected and from these survivors parents are selected. From these parents offspring is created through recombination (crossover) and mutation. This new population is then evaluated, which completes the evolutionary loop.