MiS Preprint Repository

We have decided to discontinue the publication of preprints on our preprint server as of 1 March 2024. The publication culture within mathematics has changed so much due to the rise of repositories such as ArXiV ( that we are encouraging all institute members to make their preprints available there. An institute's repository in its previous form is, therefore, unnecessary. The preprints published to date will remain available here, but we will not add any new preprints here.

MiS Preprint

Evolving neuro-modules and their interfaces to control autonomous robots

Bruno Lara, Martin Hülse and Frank Pasemann


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.


Related publications

2001 Repository Open Access
Bruno Lara, Martin Hülse and Frank Pasemann

Evolving different neuro-modules and their interfaces to control autonomous robots

In: Proceedings of the 5th world multiconference on systemics, cybernetics and informatics : SCI/ISAS 2001 ; July 22-25, 2001, Orlando, Florida
Orlando, FL : The Institute, 2001. - pp. 259-264