sferes2 / fastsim

**Sferes2 module** A lightweight simulator of a wheeled robot (khepera-like)

fastsim

This is a Sferes2 module

Fastsim is a fast, lightweight simulator of a wheeled robot (khepera-like).

If you use this software in an academic article, please cite:

Mouret, J.-B. and Doncieux, S. (2012). Encouraging Behavioral Diversity in Evolutionary Robotics: an Empirical Study. Evolutionary Computation. Vol 20 No 1 Pages 91-133.

Usage & installation

• copy fastsim to the "modules" directory in the sferes2 root directory.
• add fastsim in modules.conf in the sferes2 root directory
• run ./waf configure and ./waf build

Depedencies:

• SDL 1.2 (can be deactivated)

Academic papers that use faststim

• Koos, S. and Mouret, J.-B. and Doncieux, S. (2013). The Transferability Approach: Crossing the Reality Gap in Evolutionary Robotics. IEEE Transactions on Evolutionary Computation. Vol 17 No 1 Pages 122 - 145
• Doncieux, S. (2013). Transfer Learning for Direct Policy Search: A Reward Shaping Approach. Proceedings of ICDL-EpiRob conference. Pages 1-6.
• Doncieux, S. and Mouret, J.B. (2013). Behavioral Diversity with Multiple Behavioral Distances. Proc. of IEEE Congress on Evolutionary Computation, 2013 (CEC 2013). Pages 1-8.
• Mouret, J.-B. and Doncieux, S. (2012). Encouraging Behavioral Diversity in Evolutionary Robotics: an Empirical Study. Evolutionary Computation. Vol 20 No 1 Pages 91-133.
• Mouret, J.-B. (2011). Novelty-based Multiobjectivization. New Horizons in Evolutionary Robotics: Extended Contributions from the 2009 EvoDeRob Workshop, Springer, publisher. Pages 139--154.
• Pinville, T. and Koos, S. and Mouret, J-B. and Doncieux, S. (2011). How to Promote Generalisation in Evolutionary Robotics: the ProGAb Approach. GECCO'11: Proceedings of the 13th annual conference on Genetic and evolutionary computation ACM, publisher . Pages 259--266.
• Koos, S. and Mouret, J.-B. and Doncieux, S. (2010). Crossing the Reality Gap in Evolutionary Robotics by Promoting Transferable Controllers. GECCO'10: Proceedings of the 12th annual conference on Genetic and evolutionary computation ACM, publisher . Pages 119--126.
• Doncieux, S. and Mouret, J.-B. (2010). Behavioral diversity measures for Evolutionary Robotics. WCCI 2010 IEEE World Congress on Computational Intelligence, Congress on Evolutionary Computation (CEC). Pages 1303--1310.
• Mouret, J.-B. and Doncieux, S. (2009). Overcoming the bootstrap problem in evolutionary robotics using behavioral diversity. IEEE Congress on Evolutionary Computation, 2009 (CEC 2009). Pages 1161 - 1168.