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Can Signal Delay be Functional? Including Delay in Evolved Robot Controllers.

Matthew Egbert1, Andrew Keane2, Claire Postlethwaite3

  • 1University of Auckland, School of Computer Science, Te Ao Mārama-Centre for Fundamental Inquiry. mde@matthewegbert.com.

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Summary
This summary is machine-generated.

Signal delay, often seen as a problem, can be functionally used in cognitive systems. This study evolved a robot controller using delay differential equations, demonstrating how signal delay can create stable attractors for effective task performance.

Keywords:
Evolutionary roboticsdelaydelay differential equationsdynamical systemsfinite signal conduction velocitylag

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Area of Science:

  • Robotics
  • Control Theory
  • Computational Neuroscience

Background:

  • Signal propagation delays are typically viewed as detrimental in engineering and neuroscience.
  • Compensating for or eliminating signal delay is a common approach in system design.

Purpose of the Study:

  • To explore the functional role of signal delay in cognitive systems.
  • To evolve a robot controller that utilizes signal delay for a stimulus-distinction task.

Main Methods:

  • Evolved a minimal robot controller using delay differential equations (DDEs) to model signal propagation delays.
  • Analyzed the controller's behavior and environmental interaction using dynamical systems techniques.
  • Investigated the impact of the delay parameter (θ) on system stability and performance.

Main Results:

  • The evolved controller successfully utilized delayed recurrent signals for task performance.
  • Dynamical systems analysis revealed invariant sets underlying robot performance and identified bifurcations.
  • Signal delay was shown to destabilize existing attractors and create new stable attractors, enhancing task success.

Conclusions:

  • Signal delay can be a functional component, essential for cognitive system operation.
  • Delay differential equations provide an accurate model for systems with signal propagation delays.
  • The strategic use of signal delay can lead to effective agent behavior and task accomplishment.