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The authors demonstrate that the online evolutionary process, both with and without neuromodulation, is capable of generating controllers well adapted to the periodic task changes. The authors show that when neuromodulated learning is combined with evolution, neural controllers are synthesised faster than by evolution alone. An analysis of the evolved solutions reveals that neuromodulation allows for a more effective expression of a given topology's potential due to the active modification of internal dynamics. Neuromodulated networks learn abstractions of the task and different modes of operation that are triggered by external stimulus.<\/p>","DOI":"10.4018\/ijncr.2014040104","type":"journal-article","created":{"date-parts":[[2014,8,22]],"date-time":"2014-08-22T15:42:30Z","timestamp":1408722150000},"page":"59-77","source":"Crossref","is-referenced-by-count":13,"title":["Online Evolution of Adaptive Robot Behaviour"],"prefix":"10.4018","volume":"4","author":[{"given":"Fernando","family":"Silva","sequence":"first","affiliation":[{"name":"Instituto de Telecomunica\u00e7\u00f5es, Lisboa, Portugal and LabMAg, Faculdade de Ci\u00eancias, Universidade de Lisboa, Lisboa, Portugal"}]},{"given":"Paulo","family":"Urbano","sequence":"additional","affiliation":[{"name":"LabMAg, Faculdade de Ci\u00eancias, Universidade de Lisboa, Lisboa, Portugal"}]},{"given":"Anders Lyhne","family":"Christensen","sequence":"additional","affiliation":[{"name":"Instituto de Telecomunica\u00e7\u00f5es, Lisboa, Portugal and Instituto Universit\u00e1rio de Lisboa (ISCTE-IUL), Lisboa, Portugal"}]}],"member":"2432","reference":[{"key":"ijncr.2014040104-0","doi-asserted-by":"publisher","DOI":"10.1162\/artl.2009.Ampatzis.013"},{"key":"ijncr.2014040104-1","doi-asserted-by":"publisher","DOI":"10.1038\/35036191"},{"key":"ijncr.2014040104-2","doi-asserted-by":"publisher","DOI":"10.1080\/09540090412331314759"},{"key":"ijncr.2014040104-3","doi-asserted-by":"publisher","DOI":"10.1080\/13873954.2011.601425"},{"key":"ijncr.2014040104-4","doi-asserted-by":"publisher","DOI":"10.1007\/s12065-007-0002-4"},{"key":"ijncr.2014040104-5","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pbio.1000292"},{"key":"ijncr.2014040104-6","doi-asserted-by":"publisher","DOI":"10.1016\/S0893-6080(00)00032-0"},{"key":"ijncr.2014040104-7","unstructured":"French, R., & Canamero, L. 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