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Appendix B. Robot Duel Domain Coefficients of Motion

The turn angle $\theta$ is determined as $\theta=0.24\vert l-r\vert$, where $l$ is the output of the left turn neuron, and $r$ is the output of the right turn neuron. The robot moves forward a distance of $1.33f$ on the 600 by 600 board, where $f$ is the forward motion output. These coefficients were calibrated through experimentation to achieve accurate and smooth motion with neural outputs between zero and one.

Kenneth O. Stanley 2004-02-08