Title: Observational emergence in evolutionary fuzzy robotics

Authors: Seung-Ik Lee, Sung-Bae Cho

Addresses: Robot Software Architecture Team (RSA Team), Electronics and Telecommunications Research Institute (ETRI), South Korea. ' Department of Computer Science, Yonsei University, 134 Shinchon-dong, Sudaemoon-ku, Seoul 120-749, South Korea

Abstract: Emergence is a universal phenomenon that can be seen frequently in many fields such as evolutionary computation, artificial life and complex systems. However, many experimental results have argued that certain behaviours or properties are emergent without relying on formal definitions. In this paper, we analyse the effect of individual rules and that of interacted rules of a Fuzzy Logic Controller (FLC) evolved by a Genetic Algorithm (GA) from the perspective of observational emergence. The analysis shows that the FLC has acquired emergent behaviours through the interactions of the underlying fuzzy rules.

Keywords: fuzzy control; genetic algorithms; GAs; observational emergence; mobile robots; Khepera; evolutionary robotics; fuzzy robotics; robot control; fuzzy logic; emergent behaviour.

DOI: 10.1504/IJMIC.2008.018189

International Journal of Modelling, Identification and Control, 2008 Vol.3 No.1, pp.88 - 96

Available online: 10 May 2008 *

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