Evolution of Subsumption Using Genetic Programming

1 . INTRODUCTION AND OVERVIEW The repetitive application of seemingly simple rules can lead to complex overall emergent behavior. Emergent functionality means that overall functionality is not achieved in the conventional tightly coupled, centrally controlled way, but, instead, indirectly by the interaction of relatively primitive components with the world and among themselves [Steels 1991]. Emergent functionality is one of the main themes of research in artificial life [Langton 1989]. In this paper, we use the genetic programming paradigm to evolve a computer program that exhibits emergent behavior and enables an autonomous mobile robot to follow the walls of an irregularly shaped room. The evolutionary process is driven only by the fitness of the programs in solving the problem.

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