Evolved neurocontrollers for pole balancing

An evolutionary algorithm for the development of neural networks with arbitrary connectivity is presented. The algorithm is not based on genetic Mgorithms, but is inspired by a biological theory of coevolving species. It sets no constraints on the number of neurons and the architecture of a network, and develops network topology and parameters like weights and bias terms simultaneously. Designed for generating neuromodules acting in embedded systems like autonomous agents, it can be used also for the evolution of neural networks solving nonlinear control problems. Here we report on a first test, where the algorithm is applied to a standard control problem: The balancing of an inverted pendulum