{"id":"https://openalex.org/W4382657442","doi":"https://doi.org/10.1162/evco_a_00336","title":"The Role of Morphological Variation in Evolutionary Robotics: Maximizing Performance and Robustness","display_name":"The Role of Morphological Variation in Evolutionary Robotics: Maximizing Performance and Robustness","publication_year":2023,"publication_date":"2023-06-30","ids":{"openalex":"https://openalex.org/W4382657442","doi":"https://doi.org/10.1162/evco_a_00336","pmid":"https://pubmed.ncbi.nlm.nih.gov/37390220"},"language":"en","primary_location":{"id":"doi:10.1162/evco_a_00336","is_oa":false,"landing_page_url":"https://doi.org/10.1162/evco_a_00336","pdf_url":null,"source":{"id":"https://openalex.org/S38677346","display_name":"Evolutionary Computation","issn_l":"1063-6560","issn":["1063-6560","1530-9304"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315718","host_organization_name":"The MIT Press","host_organization_lineage":["https://openalex.org/P4310315718"],"host_organization_lineage_names":["The MIT Press"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Evolutionary Computation","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","pubmed"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5010867632","display_name":"J\u00f4nata Tyska Carvalho","orcid":"https://orcid.org/0000-0001-9020-2076"},"institutions":[{"id":"https://openalex.org/I4210166865","display_name":"Institute of Cognitive Sciences and Technologies","ror":"https://ror.org/05w9g2j85","country_code":"IT","type":"facility","lineage":["https://openalex.org/I4210155236","https://openalex.org/I4210166865"]},{"id":"https://openalex.org/I4104125","display_name":"Universidade Federal de Santa Catarina","ror":"https://ror.org/041akq887","country_code":"BR","type":"education","lineage":["https://openalex.org/I4104125"]},{"id":"https://openalex.org/I4210155236","display_name":"National Research Council","ror":"https://ror.org/04zaypm56","country_code":"IT","type":"funder","lineage":["https://openalex.org/I4210155236"]}],"countries":["BR","IT"],"is_corresponding":true,"raw_author_name":"Jonata Tyska Carvalho","raw_affiliation_strings":["Informatics and Statistics Department, Federal University of Santa Catarina (UFSC), Florian\u00f3polis, Brazil Institute of Cognitive Sciences and Technologies (ISTC), National Research Council (CNR), Rome, Italy jonata.tyska@ufsc.br"],"affiliations":[{"raw_affiliation_string":"Informatics and Statistics Department, Federal University of Santa Catarina (UFSC), Florian\u00f3polis, Brazil Institute of Cognitive Sciences and Technologies (ISTC), National Research Council (CNR), Rome, Italy jonata.tyska@ufsc.br","institution_ids":["https://openalex.org/I4210166865","https://openalex.org/I4104125","https://openalex.org/I4210155236"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5022836666","display_name":"Stefano Nolfi","orcid":"https://orcid.org/0000-0001-5035-442X"},"institutions":[{"id":"https://openalex.org/I4210155236","display_name":"National Research Council","ror":"https://ror.org/04zaypm56","country_code":"IT","type":"funder","lineage":["https://openalex.org/I4210155236"]},{"id":"https://openalex.org/I4210166865","display_name":"Institute of Cognitive Sciences and Technologies","ror":"https://ror.org/05w9g2j85","country_code":"IT","type":"facility","lineage":["https://openalex.org/I4210155236","https://openalex.org/I4210166865"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Stefano Nolfi","raw_affiliation_strings":["Institute of Cognitive Sciences and Technologies (ISTC), National Research Council (CNR), Rome, Italy stefano.nolfi@istc.cnr.it"],"affiliations":[{"raw_affiliation_string":"Institute of Cognitive Sciences and Technologies (ISTC), National Research Council (CNR), Rome, Italy stefano.nolfi@istc.cnr.it","institution_ids":["https://openalex.org/I4210166865","https://openalex.org/I4210155236"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5010867632","https://openalex.org/A5022836666"],"corresponding_institution_ids":["https://openalex.org/I4104125","https://openalex.org/I4210155236","https://openalex.org/I4210166865"],"apc_list":null,"apc_paid":null,"fwci":1.7483,"has_fulltext":false,"cited_by_count":11,"citation_normalized_percentile":{"value":0.87446415,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"32","issue":"2","first_page":"125","last_page":"142"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10462","display_name":"Reinforcement Learning in Robotics","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11975","display_name":"Evolutionary Algorithms and Applications","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7942718267440796},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6995160579681396},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.6845443844795227},{"id":"https://openalex.org/keywords/variation","display_name":"Variation (astronomy)","score":0.5703516602516174},{"id":"https://openalex.org/keywords/evolutionary-robotics","display_name":"Evolutionary robotics","score":0.5064553022384644},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4870815575122833},{"id":"https://openalex.org/keywords/evolutionary-algorithm","display_name":"Evolutionary algorithm","score":0.45447665452957153},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3218766152858734},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.31836116313934326},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.2462758719921112}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7942718267440796},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6995160579681396},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.6845443844795227},{"id":"https://openalex.org/C2778334786","wikidata":"https://www.wikidata.org/wiki/Q1586270","display_name":"Variation (astronomy)","level":2,"score":0.5703516602516174},{"id":"https://openalex.org/C199505168","wikidata":"https://www.wikidata.org/wiki/Q3267529","display_name":"Evolutionary robotics","level":3,"score":0.5064553022384644},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4870815575122833},{"id":"https://openalex.org/C159149176","wikidata":"https://www.wikidata.org/wiki/Q14489129","display_name":"Evolutionary algorithm","level":2,"score":0.45447665452957153},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3218766152858734},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.31836116313934326},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.2462758719921112},{"id":"https://openalex.org/C44870925","wikidata":"https://www.wikidata.org/wiki/Q37547","display_name":"Astrophysics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0},{"id":"https://openalex.org/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0}],"mesh":[{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D000465","descriptor_name":"Algorithms","qualifier_ui":null,"qualifier_name":null,"is_major_topic":true},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D003198","descriptor_name":"Computer Simulation","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005075","descriptor_name":"Biological Evolution","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005075","descriptor_name":"Biological Evolution","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D005075","descriptor_name":"Biological Evolution","qualifier_ui":null,"qualifier_name":null,"is_major_topic":false},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true},{"descriptor_ui":"D012371","descriptor_name":"Robotics","qualifier_ui":"Q000379","qualifier_name":"methods","is_major_topic":true}],"locations_count":2,"locations":[{"id":"doi:10.1162/evco_a_00336","is_oa":false,"landing_page_url":"https://doi.org/10.1162/evco_a_00336","pdf_url":null,"source":{"id":"https://openalex.org/S38677346","display_name":"Evolutionary Computation","issn_l":"1063-6560","issn":["1063-6560","1530-9304"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310315718","host_organization_name":"The MIT Press","host_organization_lineage":["https://openalex.org/P4310315718"],"host_organization_lineage_names":["The MIT Press"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Evolutionary Computation","raw_type":"journal-article"},{"id":"pmid:37390220","is_oa":false,"landing_page_url":"https://pubmed.ncbi.nlm.nih.gov/37390220","pdf_url":null,"source":{"id":"https://openalex.org/S4306525036","display_name":"PubMed","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1299303238","host_organization_name":"National Institutes of Health","host_organization_lineage":["https://openalex.org/I1299303238"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"Evolutionary computation","raw_type":null}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":41,"referenced_works":["https://openalex.org/W1481659984","https://openalex.org/W1487312389","https://openalex.org/W1525997788","https://openalex.org/W1568161011","https://openalex.org/W1738827650","https://openalex.org/W1978161072","https://openalex.org/W1986021461","https://openalex.org/W2028061137","https://openalex.org/W2034786972","https://openalex.org/W2063536682","https://openalex.org/W2078525842","https://openalex.org/W2078848072","https://openalex.org/W2104578628","https://openalex.org/W2136495462","https://openalex.org/W2137104525","https://openalex.org/W2138135326","https://openalex.org/W2160958384","https://openalex.org/W2596367596","https://openalex.org/W2736601468","https://openalex.org/W2895001844","https://openalex.org/W2912745652","https://openalex.org/W2962957005","https://openalex.org/W2963373786","https://openalex.org/W3007384386","https://openalex.org/W3021619395","https://openalex.org/W3046002276","https://openalex.org/W3212580602","https://openalex.org/W4211059674","https://openalex.org/W4282038053","https://openalex.org/W4309569224","https://openalex.org/W6628771640","https://openalex.org/W6629037583","https://openalex.org/W6634005853","https://openalex.org/W6670244080","https://openalex.org/W6682262322","https://openalex.org/W6718379498","https://openalex.org/W6731094094","https://openalex.org/W6735641298","https://openalex.org/W6741002519","https://openalex.org/W6776730770","https://openalex.org/W6804133327"],"related_works":["https://openalex.org/W2386430105","https://openalex.org/W4244439390","https://openalex.org/W2380659006","https://openalex.org/W4251432983","https://openalex.org/W2096206748","https://openalex.org/W2076767946","https://openalex.org/W2095960527","https://openalex.org/W2011837598","https://openalex.org/W1976294505","https://openalex.org/W4212806423"],"abstract_inverted_index":{"Exposing":[0],"an":[1],"evolutionary":[2,49,131],"algorithm":[3,132],"that":[4,89,128,188],"is":[5,14,180],"used":[6],"to":[7,11,16,63,71,80,92],"evolve":[8],"robot":[9],"controllers":[10],"variable":[12],"conditions":[13,45],"necessary":[15],"obtain":[17],"solutions":[18,193],"which":[19,46,113,137,194],"are":[20,115,151],"robust":[21],"and":[22,37,51,70,100,117,120,168,200],"can":[23,133],"cross":[24],"the":[25,39,42,48,64,68,94,103,106,110,118,130,146,149,158,162,166,171,174],"reality":[26],"gap.":[27],"However,":[28],"we":[29,61,85,101],"do":[30],"not":[31,181],"yet":[32],"have":[33,138],"methods":[34],"for":[35,53],"analyzing":[36],"understanding":[38],"impact":[40,47,95],"of":[41,67,96,108,122,148,161,165,173],"varying":[43,199],"morphological":[44,59,98,135,189],"process,":[50],"therefore":[52],"choosing":[54],"suitable":[55],"variation":[56],"ranges.":[57],"By":[58],"conditions,":[60],"refer":[62],"starting":[65],"state":[66,160],"robot,":[69],"variations":[72,99,136,144,156,190],"in":[73,198],"its":[74],"sensor":[75],"readings":[76],"during":[77],"operation":[78],"due":[79],"noise.":[81],"In":[82],"this":[83],"paper,":[84],"introduce":[86],"a":[87,139],"method":[88],"permits":[90],"us":[91],"measure":[93,176],"these":[97],"analyze":[102],"relation":[104],"between":[105],"amplitude":[107],"variations,":[109],"modality":[111],"with":[112],"they":[114],"introduced,":[116],"performance":[119],"robustness":[121],"evolving":[123],"agents.":[124],"Our":[125],"results":[126,186],"demonstrate":[127],"(i)":[129],"tolerate":[134],"very":[140],"high":[141],"impact,":[142],"(ii)":[143],"affecting":[145,157],"actions":[147],"agent":[150,163],"tolerated":[152],"much":[153],"better":[154,196],"than":[155],"initial":[159],"or":[164],"environment,":[167],"(iii)":[169],"improving":[170],"accuracy":[172],"fitness":[175],"through":[177],"multiple":[178],"evaluations":[179],"always":[182],"useful.":[183],"Moreover,":[184],"our":[185],"show":[187],"permit":[191],"generating":[192],"perform":[195],"both":[197],"non-varying":[201],"conditions.":[202]},"counts_by_year":[{"year":2025,"cited_by_count":6},{"year":2024,"cited_by_count":3},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}