22 Evolvable Threaded Controllers for a Multi-Agent Grid Robot Task

If skip action (ISAc) lists are a linear genetic programming data structure that can be used as an evolvable grid robot controller. In this study ISAc lists are modified to run multiple control threads so that a single ISAc list can control multiple grid robots. The threaded ISAc lists are tested by evolving them to control 20–25 grid robots that all must exit a virtual room through a single door. The evolutionary algorithm used rapidly locates a variety of controllers that permit the room to be cleared efficiently.