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Evolvability Is Inevitable: Increasing Evolvability without the Pressure to Adapt

Figure 12

Fixed-topology ANN.

The figure illustrates the fully-connected recurrent ANN with 18 possible connections that serves as a space of possible controllers for robots embedded in a maze navigation environment. Each connection can either be excitatory (a weight of 1.0), inhibitory () or neutral (0.0). The activation function in the ANN is a steepened sigmoid function [18]. The ANN has three rangefinder sensor inputs, two hidden neurons, and two motor outputs.

Figure 12