?url_ver=Z39.88-2004&rft_val_fmt=info%3Aofi%2Ffmt%3Akev%3Amtx%3Adc&rft.title=Evolution+of+Neural+Networks+for+Helicopter+Control%3A+Why+Modularity+Matters&rft.creator=De+Nardi%2C+Renzo&rft.creator=Togelius%2C+Julian&rft.creator=Holland%2C+Owen&rft.creator=Lucas%2C+Simon+M.&rft.subject=Machine+Learning&rft.subject=Neural+Nets&rft.subject=Robotics&rft.description=The+problem+of+the+automatic+development+of+controllers+for+vehicles+for+which+the+exact+characteristics+are+not+known+is+considered+in+the+context+of+miniature+helicopter+flocking.+A+methodology+is+proposed+in+which+neural+network+based+controllers+are+evolved+in+a+simulation+using+a+dynamic+model+qualitatively+similar+to+the+physical+helicopter.+Several+network+architectures+and+evolutionary+sequences+are+investigated%2C+and+two+approaches+are+found+that+can+evolve+very+competitive+controllers.+The+division+of+the+neural+network+into+modules+and+of+the+task+into+incremental+steps+seems+to+be+a+precondition+for+success%2C+and+we+analyse+why+this+might+be+so.&rft.publisher=IEEE+Press&rft.date=2006&rft.type=Conference+Paper&rft.type=PeerReviewed&rft.format=application%2Fpdf&rft.identifier=http%3A%2F%2Fcogprints.org%2F5222%2F1%2FDeNardi2006Evolution.pdf&rft.identifier=++De+Nardi%2C+Renzo+and+Togelius%2C+Julian+and+Holland%2C+Owen+and+Lucas%2C+Simon+M.++(2006)+Evolution+of+Neural+Networks+for+Helicopter+Control%3A+Why+Modularity+Matters.++%5BConference+Paper%5D+++++&rft.relation=http%3A%2F%2Fcogprints.org%2F5222%2F