705483.fig.005
Figure 5: The figure shows the relation between the expected cruise behavior of MFWR and the fitness evaluation function employed to evolve the CTRNN-EH controllers to achieve the same behavior under control. An acceptable cruise controller has to propel the MFWR in forward direction and minimize the variation in the altitude. Thus, the fitness score employed to evolve the cruise controllers should reward any forward motion (in -direction) and penalize any variations in altitude (in -direction).