This work addresses the coordination problem of multiple robots with the goal of finding specific hazardous targets in an unknown area and dealing with them cooperatively. The desired behaviour for the robotic system entails multiple requirements, which may also be conflicting. The paper presents the problem as a constrained bi-objective optimization problem in which mobile robots must perform two specific tasks of exploration and at same time cooperation and coordination for disarming the hazardous targets. These objectives are opposed goals, in which one may be favored, but only at the expense of the other. Therefore, a good trade-off must be found. For this purpose, a nature-inspired approach and an analytical mathematical model to solve this problem considering a single equivalent weighted objective function are presented. The results of proposed coordination model, simulated in a two dimensional terrain, are showed in order to assess the behaviour of the proposed solution to tackle this problem. We have analyzed the performance of the approach and the influence of the weights of the objective function under different conditions: static and dynamic. In this latter situation, the robots may fail under the stringent limited budget of energy or for hazardous events. The paper concludes with a critical discussion of the experimental results.

Worms, mammals, even bees do it. Every living thing on Earth replicates, whether that be asexually (boring) or sexually (fun). Robots do not do it: The machines are steely and very uninterested in reproduction. But perhaps they can learn. Scientists in a fascinating field known as evolutionary robotics are trying to get machines to adapt to the world, and eventually to reproduce on their own, just like biological organisms.

We prove that the compact genetic algorithm (cGA) with hypothetical population size $\mu = \Omega(\sqrt n \log n) \cap \text{poly}(n)$ with high probability finds the optimum of any $n$-dimensional jump function with jump size $k < \frac 1 {20} \ln n$ in $O(\mu \sqrt n)$ iterations. Since it is known that the cGA with high probability needs at least $\Omega(\mu \sqrt n + n \log n)$ iterations to optimize the unimodal OneMax function, our result shows that the cGA in contrast to most classic evolutionary algorithms here is able to cross moderate-sized valleys of low fitness at no extra cost. Our runtime guarantee improves over the recent upper bound $O(\mu n^{1.5} \log n)$ valid for $\mu = \Omega(n^{3.5+\varepsilon})$ of Hasen\"ohrl and Sutton (GECCO 2018). For the best choice of the hypothetical population size, this result gives a runtime guarantee of $O(n^{5+\varepsilon})$, whereas ours gives $O(n \log n)$. We also provide a simple general method based on parallel runs that, under mild conditions, (i)~overcomes the need to specify a suitable population size, but gives a performance close to the one stemming from the best-possible population size, and (ii)~transforms EDAs with high-probability performance guarantees into EDAs with similar bounds on the expected runtime.

The Zone of Avoidance makes it difficult for astronomers to catalogue galaxies at low latitudes to our galactic plane due to high star densities and extinction. However, having a complete sky map of galaxies is important in a number of fields of research in astronomy. There are many unclassified sources of light in the Zone of Avoidance and it is therefore important that there exists an accurate automated system to identify and classify galaxies in this region. This study aims to evaluate the efficiency and accuracy of using an evolutionary algorithm to evolve the topology and configuration of Convolutional Neural Network (CNNs) to automatically identify galaxies in the Zone of Avoidance. A supervised learning method is used with data containing near-infrared images. Input image resolution and number of near-infrared passbands needed by the evolutionary algorithm is also analyzed while the accuracy of the best evolved CNN is compared to other CNN variants.

Neuroevolution is a process of training neural networks (NN) through an evolutionary algorithm, usually to serve as a state-to-action mapping model in control or reinforcement learning-type problems. This paper builds on the Neuro Evolution of Augmented Topologies (NEAT) formalism that allows designing topology and weight evolving NNs. Fundamental advancements are made to the neuroevolution process to address premature stagnation and convergence issues, central among which is the incorporation of automated mechanisms to control the population diversity and average fitness improvement within the neuroevolution process. Insights into the performance and efficiency of the new algorithm is obtained by evaluating it on three benchmark problems from the Open AI platform and an Unmanned Aerial Vehicle (UAV) collision avoidance problem.

Self-organization can be broadly defined as the ability of a system to display ordered spatio-temporal patterns solely as the result of the interactions among the system components. Processes of this kind characterize both living and artificial systems, making self-organization a concept that is at the basis of several disciplines, from physics to biology to engineering. Placed at the frontiers between disciplines, Artificial Life (ALife) has heavily borrowed concepts and tools from the study of self-organization, providing mechanistic interpretations of life-like phenomena as well as useful constructivist approaches to artificial system design. Despite its broad usage within ALife, the concept of self-organization has been often excessively stretched or misinterpreted, calling for a clarification that could help with tracing the borders between what can and cannot be considered self-organization. In this review, we discuss the fundamental aspects of self-organization and list the main usages within three primary ALife domains, namely "soft" (mathematical/computational modeling), "hard" (physical robots), and "wet" (chemical/biological systems) ALife. Finally, we discuss the usefulness of self-organization within ALife studies, point to perspectives for future research, and list open questions.

We present a new algorithm ASEBO for conducting optimization of high-dimensional blackbox functions. ASEBO adapts to the geometry of the function and learns optimal sets of sensing directions, which are used to probe it, on-the-fly. It addresses the exploration-exploitation trade-off of blackbox optimization, where each single function query is expensive, by continuously learning the bias of the lower-dimensional model used to approximate gradients of smoothings of the function with compressed sensing and contextual bandits methods. To obtain this model, it uses techniques from the emerging theory of active subspaces in the novel ES blackbox optimization context. As a result, ASEBO learns the dynamically changing intrinsic dimensionality of the gradient space and adapts to the hardness of different stages of the optimization without external supervision. Consequently, it leads to more sample-efficient blackbox optimization than state-of-the-art algorithms. We provide rigorous theoretical justification of the effectiveness of our method. We also empirically evaluate it on the set of reinforcement learning policy optimization tasks as well as functions from the recently open-sourced Nevergrad library, demonstrating that it consistently learns optimal inputs with fewer queries to a blackbox function than other methods.

Thousands of years before machine learning and self-driving cars became reality, the tales of giant bronze robot Talos, artificial woman Pandora and their creator god, Hephaestus, filled the imaginations of people in ancient Greece. A Greek vase painting, dating to about 450 B.C., depicts the death of Talos. Stanford's Adrienne Mayor examined the myth of Talos and others in her latest research. Historians usually trace the idea of automata to the Middle Ages, when the first self-moving devices were invented, but the concept of artificial, lifelike creatures dates to the myths and legends from at least about 2,700 years ago, said Adrienne Mayor, a research scholar in the Department of Classics in the School of Humanities and Sciences. These ancient myths are the subject of Mayor's latest book, Gods and Robots: Myths, Machines, and Ancient Dreams of Technology.

Image classification is a difficult machine learning task, where Convolutional Neural Networks (CNNs) have been applied for over 20 years in order to solve the problem. In recent years, instead of the traditional way of only connecting the current layer with its next layer, shortcut connections have been proposed to connect the current layer with its forward layers apart from its next layer, which has been proved to be able to facilitate the training process of deep CNNs. However, there are various ways to build the shortcut connections, it is hard to manually design the best shortcut connections when solving a particular problem, especially given the design of the network architecture is already very challenging. In this paper, a hybrid evolutionary computation (EC) method is proposed to \textit{automatically} evolve both the architecture of deep CNNs and the shortcut connections. Three major contributions of this work are: Firstly, a new encoding strategy is proposed to encode a CNN, where the architecture and the shortcut connections are encoded separately; Secondly, a hybrid two-level EC method, which combines particle swarm optimisation and genetic algorithms, is developed to search for the optimal CNNs; Lastly, an adjustable learning rate is introduced for the fitness evaluations, which provides a better learning rate for the training process given a fixed number of epochs. The proposed algorithm is evaluated on three widely used benchmark datasets of image classification and compared with 12 peer Non-EC based competitors and one EC based competitor. The experimental results demonstrate that the proposed method outperforms all of the peer competitors in terms of classification accuracy.

Interest in derivative-free optimization (DFO) and "evolutionary strategies" (ES) has recently surged in the Reinforcement Learning (RL) community, with growing evidence that they match state of the art methods for policy optimization tasks. However, blackbox DFO methods suffer from high sampling complexity since they require a substantial number of policy rollouts for reliable updates. They can also be very sensitive to noise in the rewards, actuators or the dynamics of the environment. In this paper we propose to replace the standard ES derivative-free paradigm for RL based on simple reward-weighted averaged random perturbations for policy updates, that has recently become a subject of voluminous research, by an algorithm where gradients of blackbox RL functions are estimated via regularized regression methods. In particular, we propose to use L1/L2 regularized regression-based gradient estimation to exploit sparsity and smoothness, as well as LP decoding techniques for handling adversarial stochastic and deterministic noise. Our methods can be naturally aligned with sliding trust region techniques for efficient samples reuse to further reduce sampling complexity. This is not the case for standard ES methods requiring independent sampling in each epoch. We show that our algorithms can be applied in locomotion tasks, where training is conducted in the presence of substantial noise, e.g. for learning in sim transferable stable walking behaviors for quadruped robots or training quadrupeds how to follow a path. We further demonstrate our methods on several $\mathrm{OpenAI}$ $\mathrm{Gym}$ $\mathrm{Mujoco}$ RL tasks. We manage to train effective policies even if up to $25\%$ of all measurements are arbitrarily corrupted, where standard ES methods produce sub-optimal policies or do not manage to learn at all. Our empirical results are backed by theoretical guarantees.