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- Khepera GP Simulator -

Introduction:

  • Khepera GP Simulator is a Windows simulator for the Khepera robot from K-Team. The simulator is specifically designed to use Genetic Programming approaches to create control programs for the robots.
  • The simulator was originally based on the UNIX Khepera Simulator by Olivier Michel. It was created and it is maintained by Marcin Pilat.
  • The Khepera GP Simulator and its source code is publicly available and can be downloaded from this site. The Simulator can only be used for academic purposes.  Commercial use is prohibited. If you have questions regarding the Simulator or its usage, please contact the author.
  • The latest available version of the Khepera GP Simulator for Windows is version 3.0 released in August 2003.

Screenshots:

Screenshot of the Khepera GP Simulator for Windows.  Main Simulation area and Info Windows are shown.
Screenshot of proper light avoidance behaviour learned by the GP robotic controller engine in the Simulator.
Screenshot of proper obstacle avoidance behaviour learned by the GP robotic controller engine in the Simulator.
Screenshot of proper wall following (and also maze following) behaviour learned by the GP robotic controller engine in the Simulator.
Screenshot of the Module Browser in the Simulator.  The module browser allows the user to view detailed information about chromosomes in the population.
Screenshot of the Chromosome Structure Properties dialogs in the Simulator.  The chromosome properties dialogs allow the user to edit the structure of each chromosome in the population.  The left dialog specifies properties of linear-genome based chromosomes while the right dialog of tree-based chromosomes.

Documentation:

  • Documentation for Khepera GP Simulator for Windows 3.0 will soon be available.
  • Documentation for Khepera GP Simulator for Windows 2.0 can be found here.  It contains a list of modifications from version 1.0, class diagrams of the project, and user manual.
  • Documentation for the original version 1.0 of the Khepera GP Simulator for Windows can be found here.

Version History:

  • Version 3.0:
    • Completed in August 2003
    • Linear-genome genetic programming robotic controller [redesigned]
    • Tree-based genetic programming robotic controller [new]
    • Automatically Defined Functions (ADF) hierarchical genetic programming robotic controller [new]
    • Module Acquisition (MA) hierarchical genetic programming robotic controller [new]
    • Adaptive Representation through Learning (ARL) hierarchical genetic programming robotic controller [new]
    • Generation statistics logger and exporter [new]
    • Robot path tracer [new]
    • GUI improvements
    • Bug fixes and code improvements
  • Version 2.0
    • Completed in April 2002
    • Multiple Khepera robot support
    • New shapes including a light box
    • Functioning light sensors
    • Completely redesigned simulation model and world model
    • Fully dynamic world environment
    • Run time fitness function specification and editing
    • Simple physics model with improved collision detection
    • Included fitness task of cooperative box pushing
    • Plus many more improvements
  • Version 1.0:
    • original version

Download:

 
August 2003