Abstraction as a Tool to Bridge the Reality Gap in Evolutionary Robotics

Research output: ThesisDissertation (TU Delft)

81 Downloads (Pure)


Automatically optimizing robotic behavior to solve complex tasks has been one of
the main, long-standing goals of Evolutionary Robotics (ER). When successful, this
approach will likely fundamentally change the rate of development and deployment
of robots in everyday life. Performing this optimization on real robots can be risky
and time consuming. As a result, much of the work in ER is done using simulations
which can operate many times faster than realtime. The only downside of this, is
that, due to the limited fidelity of the simulated environment, the optimized robotic
behavior is typically different when transferred to a robot in the real world. This
difference is referred to as the reality gap...
Original languageEnglish
QualificationDoctor of Philosophy
Awarding Institution
  • Delft University of Technology
  • de Croon, G.C.H.E., Supervisor
  • Mulder, M., Supervisor
Award date10 Sep 2019
Electronic ISBNs978-94-6366-197-3
Publication statusPublished - 10 Sep 2019


  • Evolutionary Robotics
  • Reality Gap
  • Abstraction
  • Robust behavior
  • MAV

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4 Citations (Scopus)
16 Downloads (Pure)
  • Vertical Landing for Micro Air Vehicles using Event-Based Optical Flow

    Scheper, K., de Croon, G. & Pijnacker Hordijk, B. J., 15 Dec 2017, In : Journal of Field Robotics. 35, 1, p. 69-90

    Research output: Contribution to journalSpecial issueScientificpeer-review

  • 17 Citations (Scopus)
  • Abstraction as a Mechanism to Cross the Reality Gap in Evolutionary Robotics

    Scheper, K. & de Croon, G., 10 Aug 2016, From Animals to Animats 14. Tuci, E., Giagkos, A., Wilson, M. & Hallam, J. (eds.). Springer, Vol. 9825. p. 280-292 12 p. (Lecture Notes in Computer Science; vol. 9825).

    Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

    Open Access
  • 5 Citations (Scopus)
    32 Downloads (Pure)

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