--- res: bibo_abstract: - The challenging scientific field of self-reconfiguring modular robotics (i.e., decentrally controlled 'super-robots' based on autonomous, interacting robot modules with variable morphologies) calls for novel paradigms of designing robot controllers. One option is the approach of evolutionary robotics. In this approach, the challenge is to achieve high evaluation numbers with the available resources which may even affect the feasibility of this approach. Simulations are usually applied at least in a preliminary stage of research to support controller design. However, even simulations are computationally expensive which gets even more burdensome once comprehensive studies and comparisons between different controller designs and approaches have to be done. Hence, a benchmark with low computational cost is needed that still contains the typical challenges of decentral control, is comparable, and easily manageable. We propose such a benchmark and report an empirical study of its characteristics including the transition from the single-robot setting to the multi-robot setting, typical local optima, and properties of adaptive walks through the fitness landscape.@eng bibo_authorlist: - foaf_Person: foaf_givenName: Heiko foaf_name: Hamann, Heiko foaf_surname: Hamann - foaf_Person: foaf_givenName: Thomas foaf_name: Schmickl, Thomas foaf_surname: Schmickl - foaf_Person: foaf_givenName: Karl foaf_name: Crailsheim, Karl foaf_surname: Crailsheim - foaf_Person: foaf_givenName: Natalio foaf_name: Krasnogor, Natalio foaf_surname: Krasnogor - foaf_Person: foaf_givenName: Pier foaf_name: Luca Lanzi, Pier foaf_surname: Luca Lanzi bibo_doi: 10.1145/2001576.2001604 dct_date: 2011^xs_gYear dct_language: eng dct_title: 'Coupled inverted pendulums: A benchmark for evolving decentral controllers in modular robotics@' ...