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This paper describes experiments in which neural network control architectures were evolved in minimal simulation for an octopod robot. The robot is around 30cm long and has 4 infra red sensors that point ahead and to the side, various bumpers and whiskers, and ten ambient light sensors positioned strategically around the body. Each of the robot's eight(More)
Many of the techniques commonly used to evolve neural networks for robots face various problems if the size and morphology of these networks are allowed to vary under evolutionary control. This paper iden-tiies some of these problems for commonly used encoding schemes, neu-ral networks, genetic operators and evaluation techniques and proposes some new(More)
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