document: Evolving receptive-field controllers for mobile robots The use of evolutionary methods to generate controllers for real-world autonomous agents has attracted attention . Most of the pertinent research has employed genetic algorithms or variations thereof . Research has applied an alternative evolutionary method , evolution strategies , to the generation of simple Braitenberg vehicles . This application accelerates the development of such controllers by more than an order of magnitude -LRB- a few hours compared to more than two days -RRB- . Motivated by this useful speedup , the paper investigates the evolution of more complex architectures , receptive-field controllers , that can employ nonlinear interactions and , therefore , can yield more complex behavior . It is interesting to note that the evolution strategy yields the same efficacy in terms of function evaluations , even though the second class of controllers requires up to 10 times more parameters than the simple Braitenberg architecture . In addition to the speedup , there is an important theoretical reason for preferring an evolution strategy over a genetic algorithm for this problem , namely the presence of epistasis
doc_bio_tags: O O O O B I O O O B I O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O B I O O O O O B I I O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O B I O O O O O O O B I O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O
extractive_keyphrases: mobile robots evolutionary methods evolution strategies simple braitenberg vehicles nonlinear interactions complex behavior
abstractive_keyphrases: receptive-field controllers real-world autonomous agents radial basis functions scalability