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Complex Behavior in Evolutionary Robotics by Lukas König

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4 Evolution Using Finite State Machines

Preamble:

“Beautiful is better than ugly. Explicit is better than implicit. Simple is better than complex. Complex is better than complicated. Flat is better than nested. Sparse is better than dense. Readability counts. [...] If the implementation is hard to explain, it’s a bad idea. If the implementation is easy to explain, it may be a good idea.”

These postulations for computer programs are part of the Zen of Python [150]. While it is widely recognized that human-designed programs should preferably follow these rules to keep programs comprehensible, automatically designed robot programs – whose correct functioning may be extremely crucial – still tend to be graded solely by observation. By accomplishing ...

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