Modeling Hydra Behavior Using Methods Founded in Behavior-Based Robotics

32 Chapter 7. Results and discussionTable 7.1: EA properties and settings for the best evolved RNN-based habituation unit. For allthree mutation cases, if a mutation occurs, one out of two mutation operators is selected. If, e.g., aconnection mutation occurs, there is a 50% chance of a connection being added (m 3 ), and a 50%chance of a connection being removed (m 4 ).Population size 50Initial RNN size 2CrossoverNot usedTournament size 5p tour 0.65p mut1,2 0.10p mut3,4 0.15p mut5,6 0.10Creep rate, c 2Range, weights and biases [−5, 5]Range, time constants [s] [10, 2000]⎛0.63 −5.00 5.00w = ⎝ −0.39 3.17 −5.002.30 −5.00 3.51w I = ( 0.51 0.00 3.71 )b = ( −0.75 −1.17 −3.72 )⎞⎠τ = ( 1107.21 95.50 509.15 ) (7.6)