MiS Preprint Repository

An evolutionary algorithm for the creation of recurrent network structures is presented. The aim is to develop neural networks controlling the behaviour of miniature robots. Two neuro-modules are created separately using this evolutionary approach. The first neuro-module gives the agents the ability to move within an environment without colliding with obstacles. The second neuro-module provides the agents with a phototropic behaviour. The interaction of the neuro-modules is then investigated evolving the necessary interface to provide the agents with a coherent obstacle avoidance and phototropic behaviour. The evolution process is carried out in a simulated environment and individuals with high performance are also tested on a physical environment with the use of Khepera robots.