Behavior reuse and virtual sensors in the evolution of complex behavior architectures

Summary In this paper we discuss some of the new work we have been carrying out with the objective of making evolutionarily obtained behavior based architectures and modules for autonomous robots more standardized and interchangeable. The architectures contemplated here are based on a multiple behavior structure where all of the modules, as well as their interconnections, are automatically obtained through evolutionary processes. The main objective of this line of research is to obtain procedures that permit producing behavior based controllers that work on real robots operating in real environments as independently of the platform as possible. In this particular paper we will concentrate on different aspects regarding the inclusion of virtual sensors as a way to make improved use of the capabilities of the different platforms and on the reuse of behavior modules. This reuse will be contemplated within the same behavioral architecture and from the point of view of transferring behavior modules from one platform to a different one.