Evolving Neural Network Controllers for a Team of Self-Organizing Robots

Table 2

Parameters of the fitness function.

$i$	$P_i$	$W_i$
$p$	field distribution	$10^0$
$bd$	distance to the ball	$10^3$
$k$	number of kicks	$2·10^4$
$fk$	number of false kicks (ball is kicked out of bounds)	$10^4$
$bg$	ball distance to the opponent's goal	$10^5$
$s$	number of scores	$4·10^6$