abstract = "A new graph-based evolutionary algorithm called
Genetic Network Programming (GNP) has been proposed.
The solutions of GNP are represented as graph
structures, which can improve the expression ability
and performance. In addition, GNP with Reinforcement
Learning (GNP-RL) has been proposed to search for
solutions efficiently. GNP-RL can use current
information and change its programs during task
execution, i.e., online learning. Thus, it has an
advantage over evolution-based algorithms in case much
information can be obtained during task execution.
GNP-RL has a special state-action space and it
contributes to reducing the size of the Qtable and
learning efficiently. The proposed method is applied to
the controller of Khepera simulator and its performance
notes = "WCCI 2006 - A joint meeting of the IEEE, the EPS, and