Incremental evolution of HERCL programs for robust control
Alan Blair · 2014
We explore the evolution of programs for control tasks using the recently introduced Hierarchical Evolutionary Re-Combination Language (HERCL) which has been designed as an austere and general-purpose language, with a view toward modular evolutionary computation, combining elements from Linear GP with stack-based operations from FORTH. We show that HERCL programs can be evolved to robustly perform a benchmark double pole balancing task from a specified range of initial conditions, with the poles remaining balanced for up to an hour of simulated time.