Genetic network programming with reinforcement learning and its application to making mobile robot behavior

Shingo Mabu, Hiroyuki Hatakeyamay, Moe Thu Thu, Kotaro Hirasawa, Jinglu Hu

Research output: Contribution to journalArticle

18 Citations (Scopus)


A new graph-based evolutionary algorithm called "Genetic Network Programming, GNP" has been proposed. The solutions of GNP are represented as graph structures, which can improve the expression ability and performance. In addition, GNP with Reinforcement Learning (GNP-RL) has been proposed to search for solutions efficiently. GNP-RL can use current information (state and reward) and change its programs during task execution. Thus, it has an advantage over evolution-based algorithms in case much information can be obtained during task execution. The GNP we proposed in the previous research deals with discrete information, but in this paper, we extend the conventional GNP-RL which can deal with numerical information. The proposed method is applied to the controller of Khepera simulator and its performance is evaluated.

Original languageEnglish
Pages (from-to)1009-1015
Number of pages7
JournalIEEJ Transactions on Electronics, Information and Systems
Issue number8
Publication statusPublished - 2006 Jan 1



  • Evolutionary Computation
  • Genetic Network Programming
  • Khepera robot
  • Reinforcement Learning

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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