REC Robot Evolutionary Computation Framework

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REC (Robot Evolutionary Computation) Framework

• Andrew Marek

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What is REC?

• Research framework
• Genetic programming
• Use vision and laser data
• Detect features in robots environment
• Extension of Open BEAGLE

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Genetic Programming

• Function and Terminal Set
• Genetic Operators
• Selection
• Crossover
• Mutation
• Fitness Measure
• Termination Criterion

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Objectives

• Maximum project duration of one year
• Well designed, bug-free product
• Cost (
• Performance of GP runs take less than 24 hours.

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Objectives

• Handle all facets of GP complete
• Data collection
• Off-line training
• Testing
• Online validation

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Deliverables

• SPMP
• Requirements
• Design
• Data sets
• Source code
• Documentation
• Users Manual

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Project Organization
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Costs
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Schedule
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Schedule

• Start 9/1/2004
• End 5/5/2005
• About 8 months
• Accounts for time off between semesters

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Assumptions

• Open BEAGLE
• Funding
• Staff will remain for one year
• gcc is stable
• Staff will work 20 hrs./week
• Robot will remain functional
• Previous work with BEAGLE compares to our work
  good indicator

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Risks
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Development
PROD
DEV
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1
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2
Laser
Image
Laser
Image
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Combined
Combined

• Moving from step to step (1-2, 2-3)
• Documentation
• Testing
• Walkthrough, or formal review

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Questions

• ???