In this paper, we use a massive modular architecture for the generation of complex behaviours in complex robots within the evolutionary robotics framework. We define two different ways of introducing modularity in neural controllers using evolutionary techniques, which we call strategic and tactical modularity, and show at what modular levels each one acts and how can they be combined for the generation of a completely modular controller for a neural networks based animat. Implementation results are presented for the garbage collector problem using a khepera robot and compared with previous results from other researchers.
IOS Press, Inc.
6751 Tepper Drive
Clifton, VA 20124
Tel.: +1 703 830 6300
Fax: +1 703 830 2300 firstname.lastname@example.org
(Corporate matters and books only) IOS Press c/o Accucoms US, Inc.
For North America Sales and Customer Service
West Point Commons
Lansdale PA 19446
Tel.: +1 866 855 8967
Fax: +1 215 660 5042 email@example.com