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Conclusion

This paper has been a manifesto for an approach to evolving hardware for robot control. This approach aims fully to exploit the potential power of reconfigurable electronic hardware by relaxing the constraints on the spatial and temporal organisation of the system that are necessary for a human designer. The resulting systems may seem extraordinary to engineers at first, but experimental evidence has been presented to corroborate the claim that this may be a route to electronic control systems of unprecedented power and efficiency. A particular architecture -- the Dynamic State Machine -- has been proposed as a reconfigurable system that is easier to build than the more sophisticated alternatives based around Field Programmable Gate Array (FPGA) technology, but yet contains the essential ingredients. Its successful use in the first reported evolved hardware control system for a real robot demonstrates the viability of the new framework, but the long term goal must be to evolve systems as hardware that cannot be made in any other way -- it could be that this is possible even with currently available FPGAs.



Adrian Thompson
Tue Feb 25 13:21:33 GMT 1997