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Evolution of Behavior in a Simulated Environment

CAVE project for VROOM exhibit at SIGGRAPH 94

This and the next two figures were slides that were shown to the CAVE guest as preperation for their CAVE experience. This virtual slide showed the CAVE guest what the virtual robots are going to look like. The roboto is made of a central column, a pad describing the actual space the robots takes up in the space. The triangles around the column shows the number of nodes in the control program. The eyes above the robot shows the number of sensors used by the control program.

This virtual slide demonstates an example of the control program that moves the virtual robots. The control program is made of lisp-like expressions evaluated every frame. The illustration shows the program as a tree to associate the colored triangles that are around the virtual robot's base with the parts of the program that contols it

This fellow has just grabbed some food ( the green stems ) and it is about to grab some more by turning to its right. The bluish rod above its hair is it food detector. It is lit up because it has just seen the food. This control program was good at finding food as long as it passed to the left of the food; its food detector was permanently pointing to its right. The other robots in the scene were not as endowed.

All these images are of control robots that have specialized in avoidance. In the image on the left, the two front robots have not seen each other, the two behind them are about to collide, reducing the fitness of their control programs. The two images below show robots getting near each other but not touching. On the image on the left you can see that one is watching the other. In the image below one is following the other