{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,11]],"date-time":"2026-03-11T14:58:21Z","timestamp":1773241101142,"version":"3.50.1"},"reference-count":75,"publisher":"MIT Press","issue":"2","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Artificial Life"],"published-print":{"date-parts":[[2012,4]]},"abstract":"<jats:p>One of the main challenges in automatic controller synthesis is to develop methods that can successfully be applied for complex tasks. The difficulty is increased even more in the case of settings with multiple interacting agents. We apply the artificial homeostatic hormone system (AHHS) approach, which is inspired by the signaling network of unicellular organisms, to control a system of several independently acting agents decentrally. The approach is designed for evaluation-minimal, artificial evolution in order to be applicable to complex modular robotics scenarios. The performance of AHHS controllers is compared with neuroevolution of augmenting topologies (NEAT) in the coupled inverted pendulums benchmark. AHHS controllers are found to be better for multimodular settings. We analyze the evolved controllers with regard to the usage of sensory inputs and the emerging oscillations, and we give a nonlinear dynamics interpretation. The generalization of evolved controllers to initial conditions far from the original conditions is investigated and found to be good. Similarly, the performance of controllers scales well even with module numbers different from the original domain the controller was evolved for. Two reference implementations of a similar controller approach are reported and shown to have shortcomings. We discuss the related work and conclude by summarizing the main contributions of our work.<\/jats:p>","DOI":"10.1162\/artl_a_00058","type":"journal-article","created":{"date-parts":[[2012,2,22]],"date-time":"2012-02-22T18:18:51Z","timestamp":1329934731000},"page":"165-198","source":"Crossref","is-referenced-by-count":12,"title":["A Hormone-Based Controller for Evaluation-Minimal Evolution in Decentrally Controlled Systems"],"prefix":"10.1162","volume":"18","author":[{"given":"Heiko","family":"Hamann","sequence":"first","affiliation":[{"name":"Karl-Franzens University Graz"}]},{"given":"Thomas","family":"Schmickl","sequence":"additional","affiliation":[{"name":"Karl-Franzens University Graz"}]},{"given":"Karl","family":"Crailsheim","sequence":"additional","affiliation":[{"name":"Karl-Franzens University Graz"}]}],"member":"281","reference":[{"key":"R1","volume-title":"Molecular biology of the cell.","author":"Alberts B.","year":"1989"},{"key":"R2","doi-asserted-by":"publisher","DOI":"10.1007\/BF03396029"},{"key":"R3","doi-asserted-by":"publisher","DOI":"10.1109\/CEC.2002.1004528"},{"key":"R4","doi-asserted-by":"publisher","DOI":"10.1016\/S0022-5193(05)80268-1"},{"key":"R5","doi-asserted-by":"publisher","DOI":"10.1038\/376307a0"},{"key":"R6","volume-title":"Wetware: A computer in every living cell.","author":"Bray D.","year":"2009"},{"key":"R7","doi-asserted-by":"publisher","DOI":"10.1109\/JRA.1986.1087032"},{"key":"R8","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(96)00064-4"},{"key":"R9","doi-asserted-by":"crossref","DOI":"10.1515\/9780691212920","volume-title":"Self-organization in biological systems.","author":"Camazine S.","year":"2001"},{"key":"R10","doi-asserted-by":"publisher","DOI":"10.1016\/S0167-6911(02)00229-3"},{"key":"R11","doi-asserted-by":"publisher","DOI":"10.1038\/463864a"},{"key":"R12","doi-asserted-by":"publisher","DOI":"10.1177\/105971239300200104"},{"key":"R13","doi-asserted-by":"publisher","DOI":"10.1162\/artl.2009.16.1.16100"},{"key":"R14","doi-asserted-by":"publisher","DOI":"10.1023\/B:AURO.0000033973.24945.f3"},{"key":"R15","doi-asserted-by":"publisher","DOI":"10.1038\/nature01171"},{"key":"R16","doi-asserted-by":"publisher","DOI":"10.1098\/rstb.1993.0060"},{"key":"R17","doi-asserted-by":"publisher","DOI":"10.1016\/j.cub.2007.01.058"},{"key":"R18","doi-asserted-by":"publisher","DOI":"10.1007\/s12065-007-0002-4"},{"key":"R19","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-540-30301-5_62"},{"key":"R20","doi-asserted-by":"crossref","unstructured":"Fujimoto, K. & Kaneko, K. (2003). How fast elements can affect slow dynamics. Physica D: Nonlinear Phenomena, 180(1\u20132), 1\u201316.","DOI":"10.1016\/S0167-2789(03)00046-0"},{"key":"R21","doi-asserted-by":"publisher","DOI":"10.1038\/scientificamerican0550-42"},{"key":"R22","doi-asserted-by":"publisher","DOI":"10.1038\/scientificamerican0851-60"},{"key":"R23","doi-asserted-by":"publisher","DOI":"10.1109\/CEC.2010.5585994"},{"key":"R24","first-page":"773","volume-title":"Proceedings of the ALife XII Conference","author":"Hamann H.","year":"2010"},{"key":"R25","doi-asserted-by":"publisher","DOI":"10.1145\/2001576.2001604"},{"key":"R26","doi-asserted-by":"publisher","DOI":"10.1111\/j.1550-7408.1971.tb03333.x"},{"key":"R27","doi-asserted-by":"publisher","DOI":"10.1016\/S0921-8890(96)00067-X"},{"key":"R28","doi-asserted-by":"crossref","DOI":"10.7551\/mitpress\/2867.001.0001","volume-title":"The evolution of communication.","author":"Hauser M. D.","year":"1996"},{"key":"R29","volume-title":"Adaptation in natural and artificial systems.","author":"Holland J. H.","year":"1975"},{"key":"R30","doi-asserted-by":"publisher","DOI":"10.2307\/1535852"},{"key":"R31","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-64957-3_65"},{"key":"R32","doi-asserted-by":"publisher","DOI":"10.1109\/72.159060"},{"key":"R33","doi-asserted-by":"publisher","DOI":"10.1016\/S0022-5193(87)80029-2"},{"key":"R34","volume-title":"Genetic programming: On the programming of computers by means of natural selection.","author":"Koza J.","year":"1992"},{"key":"R35","doi-asserted-by":"publisher","DOI":"10.1007\/BFb0120027"},{"key":"R36","doi-asserted-by":"publisher","DOI":"10.1016\/j.biosystems.2003.09.001"},{"key":"R37","doi-asserted-by":"publisher","DOI":"10.1109\/MCI.2010.939579"},{"key":"R38","doi-asserted-by":"publisher","DOI":"10.1109\/CEC.2010.5586486"},{"key":"R39","doi-asserted-by":"publisher","DOI":"10.1109\/M-RA.2007.908984"},{"key":"R40","doi-asserted-by":"publisher","DOI":"10.1109\/CEC.2000.870290"},{"issue":"27","key":"R41","first-page":"197","volume":"4","author":"Neal M.","year":"2003","journal-title":"Informatica"},{"key":"R42","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2008.09.009"},{"key":"R43","doi-asserted-by":"publisher","DOI":"10.1023\/A:1008973931182"},{"key":"R44","doi-asserted-by":"publisher","DOI":"10.7551\/mitpress\/2889.001.0001"},{"key":"R45","first-page":"126","volume-title":"Proceedings of the ALife XII Conference","author":"\u00d8stman B.","year":"2010"},{"key":"R46","doi-asserted-by":"publisher","DOI":"10.1088\/0954-898X\/9\/4\/006"},{"key":"R47","doi-asserted-by":"publisher","DOI":"10.1023\/A:1012411712038"},{"key":"R48","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.0307811100"},{"key":"R49","volume-title":"Numerical recipes in C++.","author":"Press W. H.","year":"2002"},{"key":"R50","volume-title":"Evolutionsstrategie '94.","author":"Rechenberg I.","year":"1994"},{"key":"R52","doi-asserted-by":"publisher","DOI":"10.1016\/S0303-2647(98)00092-6"},{"key":"R53","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2009.5354716"},{"key":"R54","volume-title":"MATHMOD 2009\u20146th Vienna International Conference on Mathematical Modelling","author":"Schmickl T.","year":"2009"},{"key":"R55","volume-title":"Symbiotic multi-robot organisms: Reliability, adaptability, evolution.","author":"Schmickl T.","year":"2010"},{"key":"R56","first-page":"648","volume-title":"Proceedings of the ALife XII Conference","author":"Schmickl T.","year":"2010"},{"key":"R57","doi-asserted-by":"publisher","DOI":"10.1080\/13873954.2011.557862"},{"key":"R58","volume-title":"Evolution and optimum seeking.","author":"Schwefel H.-P.","year":"1995"},{"key":"R59","doi-asserted-by":"publisher","DOI":"10.1109\/TRA.2002.804502"},{"key":"R60","doi-asserted-by":"publisher","DOI":"10.1023\/B:AURO.0000032940.08116.f1"},{"key":"R61","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-006-6475-7"},{"key":"R63","doi-asserted-by":"publisher","DOI":"10.1613\/jair.1338"},{"key":"R64","doi-asserted-by":"publisher","DOI":"10.1162\/artl.2009.15.2.15202"},{"key":"R65","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2009.5354056"},{"key":"R66","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-21283-3_17"},{"key":"R68","doi-asserted-by":"publisher","DOI":"10.1016\/j.febslet.2005.01.072"},{"key":"R69","volume-title":"Evolutionary swarm robotics\u2014Evolving self-organising behaviours in groups of autonomous robots.","author":"Trianni V.","year":"2008"},{"key":"R70","doi-asserted-by":"publisher","DOI":"10.1007\/11553090_76"},{"key":"R71","doi-asserted-by":"publisher","DOI":"10.1108\/17563780910982680"},{"key":"R72","first-page":"877","volume":"7","author":"Whiteson S.","year":"2006","journal-title":"Journal of Machine Learning Research"},{"key":"R73","first-page":"288","volume-title":"Computer and information sciences","author":"Widrow B.","year":"1964"},{"key":"R74","volume-title":"Cybernetics: Or control and communication in the animal and the machine.","author":"Wiener N.","year":"1948"},{"key":"R75","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-10817-4_127"},{"key":"R76","doi-asserted-by":"publisher","DOI":"10.1109\/4235.585893"},{"key":"R77","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2005.846598"},{"key":"R78","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2007.339623"}],"container-title":["Artificial Life"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mitpressjournals.org\/doi\/pdf\/10.1162\/artl_a_00058","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,3,21]],"date-time":"2025-03-21T13:42:41Z","timestamp":1742564561000},"score":1,"resource":{"primary":{"URL":"https:\/\/direct.mit.edu\/artl\/article\/18\/2\/165-198\/2706"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,4]]},"references-count":75,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2012,4]]}},"alternative-id":["10.1162\/artl_a_00058"],"URL":"https:\/\/doi.org\/10.1162\/artl_a_00058","relation":{},"ISSN":["1064-5462","1530-9185"],"issn-type":[{"value":"1064-5462","type":"print"},{"value":"1530-9185","type":"electronic"}],"subject":[],"published":{"date-parts":[[2012,4]]}}}