Evolving Flying Creatures with Path Following Behaviors

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5 Author(s)

We present a system which evolves physically simulated 3D flying creatures and their maneuvers. The creature is modelled as a number of articulated cylinders connected by triangular patagia in between. A creature's wing structure and its low-level controllers for straight flight are generated by an evolutionary algorithm. Then a feed-forward neural network is attached to the low-level controllers, and the connection weights of the network for a given trajectory are found by a genetic algonthm. We show that a control system sufficiently effective to allow aerial creatures to follow a complicated path can be achieved by two-step evolution process.