Co-evolution of Sensors and Controllers

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In this paper we investigate the evolutionary development of embodied agents that evolve not only control mechanisms but also the sensitivity and temporal resolution of their sensors. In our system, agents can adapt their sensory parameters to their morphology and task environments, while no explicit cost for sensors is used. We have carried out two kinds of experiments in which agents perform phototactic and pursuit/evading behaviors. The experimental results indicate that the sensors and controller co-evolve in an agent through interaction with the environments.

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