Association matrices: (a) Matrix of target localization association—solid circles correspond to positive weights which represent favorable actions, indicating reinforced association with different reinforcement degrees, where values are proportional to the area of circles and the most reinforced action is the one having the great positive weight; hollow circles correspond to negative weights which represent actions leading to a dissociation. (b) Matrix of obstacle-avoidance association—solid circles represent reinforced actions (with different reinforcement degrees) and hollow circles represent dissociated actions.