Evolution of a world model for a miniature robot using genetic programming

We have used an automatic programming method called Genetic Programming (GP) for control of a miniature robot. Our earlier work on real-time learning su ered from the drawback of the learning time being limited by the response dynamics of the robot's environment. In order to overcome this problem we have devised a new technique which allows learning from past experiences that are stored in memory. The new method shows its advantage when perfect behavior emerges in experiments quickly and reliably. It is tested on two control tasks, obstacle avoiding and wall following behavior, both in simulation and on the real robot platform Khepera.