GP-sumo: Using genetic programming to evolve sumobots

We describe the evolution-via genetic programming-of control systems for real-world, sumo-fighting robots-sumobots, in adherence with the Robothon rules: Two robots face each other within a circular arena, the objective of each being to push the other outside the arena boundaries. Our robots are minimally equipped with sensors and actuators, the intent being to seek out good fighters with this restricted platform, in a limited amount of time. We describe four sets of experiments-of gradually increasing difficulty-which also test a number of evolutionary methods: single-population vs. coevolution, static fitness vs. dynamic fitness, and real vs. dummy opponents.