Lecture Notes in Computer Science 11454

Commenced Publication in 1973 Founding and Former Series Editors: Gerhard Goos, Juris Hartmanis, and Jan van Leeuwen

Editorial Board Members David Hutchison Lancaster University, Lancaster, UK Takeo Kanade Carnegie Mellon University, Pittsburgh, PA, USA Josef Kittler University of Surrey, Guildford, UK Jon M. Kleinberg Cornell University, Ithaca, NY, USA Friedemann Mattern ETH Zurich, Zurich, Switzerland John C. Mitchell Stanford University, Stanford, CA, USA Moni Naor Weizmann Institute of Science, Rehovot, Israel C. Pandu Rangan Indian Institute of Technology Madras, Chennai, India Bernhard Steffen TU Dortmund University, Dortmund, Germany Demetri Terzopoulos University of California, Los Angeles, CA, USA Doug Tygar University of California, Berkeley, CA, USA More information about this series at http://www.springer.com/series/7407 Paul Kaufmann • Pedro A. Castillo (Eds.)

Applications of Evolutionary Computation 22nd International Conference, EvoApplications 2019 Held as Part of EvoStar 2019 Leipzig, Germany, April 24–26, 2019 Proceedings

123 Editors Paul Kaufmann Pedro A. Castillo University of Mainz University of Granada Mainz, Germany Granada, Spain

ISSN 0302-9743 ISSN 1611-3349 (electronic) Lecture Notes in Computer Science ISBN 978-3-030-16691-5 ISBN 978-3-030-16692-2 (eBook) https://doi.org/10.1007/978-3-030-16692-2

Library of Congress Control Number: 2019936010

LNCS Sublibrary: SL1 – Theoretical Computer Science and General Issues

© Springer Nature Switzerland AG 2019 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, expressed or implied, with respect to the material contained herein or for any errors or omissions that may have been made. The publisher remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

This Springer imprint is published by the registered company Springer Nature Switzerland AG The registered company address is: Gewerbestrasse 11, 6330 Cham, Switzerland Preface

This volume contains the proceedings of Applications of Evolutionary Computation, the 22nd International Conference, EvoApplications 2019, held as part of EvoStar 2019, in Leipzig, Germany, April 24–26, 2019. EvoStar, or Evo*, is the leading event on bio-inspired computation in Europe. EvoAPPS, as it is familiarly called, aims to show the applications of research in this field, ranging from proofs of concept to industrial case studies. At the same time, under the Evo* umbrella, EuroGP focused on the technique of genetic programming, EvoCOP targeted evolutionary computation in combinatorial optimization, and EvoMUSART was dedicated to evolved and bio-inspired music, sound, art and design. The proceedings for all of these co-located events are available in the LNCS series. This volume combines research from the following domains: engineering and real-world applications, games, image and signal processing, vision and pattern recognition, life sciences, networks, neuroevolution, numerical optimization, and robotics. This year, we received 66 high-quality submissions, most of them well suited to fit in more than one domain. We selected 20 papers for full oral presentation, while a further 24 works were presented in short oral presentations and as posters. All contributions, regardless of the presentation format, appear as full papers in this volume (LNCS 11454). Many people contributed to this edition: we express our gratitude to the authors for submitting their works, and to the members of the Program Committee for devoting such a big effort to review papers pressed by our tight schedule. The papers were submitted, reviewed, and selected through the MyReview conference management system, and we are grateful to Marc Schoenauer (Inria, Saclay-Île-de-France, France) for providing, hosting, and managing the platform. We would also like to thank the local organizing team led by Hendrik Richter from the Leipzig University of Applied Sciences, Germany, for providing such an enticing venue and arranging an array of additional activities for delegates. Our appreciation also goes to the Leipzig University of Applied Sciences for the patronage provided in support of the event. We would like to acknowledge Pablo GarcíaSánchez (University of Cádiz, Spain) for his continued support in maintaining the Evo* website and handling publicity. We credit the invited keynote speakers, Risto Miikkulainen (University of Texas, USA) and Manja Marz (Friedrich Schiller University Jena, Germany), for their fascinating and inspiring presentations. We would like to express our gratitude to the Steering Committee of EvoApplications for helping with the organization of EvoAPPS: Stefano Cagnoni, Anna I. Esparcia-Alcázar, Mario Giacobinni, Antonio Mora, Günther Raidl, Franz Rothlauf, Kevin Sim, and Giovanni Squillero. vi Preface

We are grateful to the support provided by SPECIES, the Society for the Promotion of Evolutionary Computation in Europe and Its Surroundings, and its individual members Marc Schoenauer (President), Anna I. Esparcia-Alcázar, (Secretary and Vice-President), Wolfgang Banzhaf (Treasurer), for the coordination and financial administration. And last but not least, we express our continued appreciation to Anna I. Esparcia-Alcázar, from Universitat Politècnica de València, Spain whose considerable efforts in managing and coordinating Evo* helped toward building our unique, vibrant, and friendly atmosphere.

March 2019 Paul Kaufmann Pedro A. Castillo Jaume Bacardit Carlos Cotta Gusz Eiben Francisco Fernández James Foster Kyrre Glette Emma Hart Giovanni Iacca Juanlu Jiménez-Laredo Oliver Kramer J. J. Merelo Julian Miller Monica Mordonini Trung Thanh Nguyen Sebastian Risi Günter Rudolph Sara Silva Stephen Smith Organization

EvoApplications Coordinator

Paul Kaufmann Mainz University, Germany

EvoApplications Publication Chair

Pedro A. Castillo Universidad de Granada, Spain

Local Chair

Hendrik Richter University of Leipzig, Germany

Publicity Chair

Pablo GarcíaSánchez University of Cádiz, Spain

Engineering and Real-World Applications Chairs

Sara Silva LASIGE, University of Lisbon, Portugal Emma Hart Napier University, Edinburgh, UK

Games Chairs

Julian Togelius Tandon School of Engineering, New York University, USA Alberto Tonda Université Paris-Saclay, France

Image and Signal Processing Chairs

Stephen L. Smith University of York, Heslington York, UK Monica Mordonini Universitá di Parma, Italy

Life Sciences Chairs

James Foster University of Idaho, USA Jaume Bacardit Newcastle University, UK

Networks and Distributed Systems Chairs

Juan Julián Merelo-Guervós Universidad de Granada, Spain Juan L. Jiménez-Laredo RI2C/LITIS, Université du Havre Normandie, France viii Organization

Neuroevolution and Data Analytics Chairs

Julian Francis Miller University of York, UK Sebastian Risi IT University of Copenhagen, Denmark

Numerical Optimization: Theory, Benchmarks and Applications Chairs

Günter Rudolph University of Dortmund, Germany Oliver Kramer University of Oldenburg, Germany

Robotics Chairs

Agoston E. Eiben Vrije Universiteit Amsterdam, The Netherlands Kyrre Glette University of Oslo, Norway

General Chairs

Carlos Cotta Universidad de Málaga, Spain Giovanni Iacca University of Trento, Italy Trung Thanh Nguyen Liverpool John Moores University, UK Francisco Fernández Universidad de Extremadura, Spain de Vega

EvoApps Steering Committee

Stefano Cagnoni University of Parma, Italy Anna I. Esparcia Universitat Politècnica de València, Spain Mario Giacobinni Università degli Studi di Torino, Italy Antonio M. Mora Universidad de Granada, Spain Günther Raidl Technische Universität Wien, Austria Franz Rothlauf Mainz University, Germany Kevin Sim Edinburgh Napier University, UK Giovanni Squillero Politecnico di Torino, Italy Cecilia di Chio University of Southampton, UK (Honorary Member)

Program Committee

Ahmed Hallawa RWTH, Germany [General] Alex Freitas University of Kent, UK [Life Sciences] Anca Andreica Babes-Bolyai University, Romania [General] Anders Christensen University Institute of Lisbon, Portugal [Neuroevolution and Data Analytics] Andres Faina IT University of Copenhagen, Denmark [Robotics] Organization ix

Andrew Turner Simomics Ltd., York, UK [Neuroevolution and Data Analytics] Anil Yaman Eindhoven University of Technology, The Netherlands [Neuroevolution and Data Analytics; General] Anna I. Esparcia Universitat Politècnica de València, Spain [Engineering and Real-World Applications] Anthony Brabazon University College Dublin, Ireland [Engineering and Real-World Applications] Anthony Clark Michigan State University, USA [Robotics] Antonio Della Cioppa University of Salerno, Italy [Image and Signal Processing] Antonio Fernández Ares Universidad de Granada, Spain [Games] Antonio Gonzales Pardo Basque Center for Applied Mathematics, Spain [Games] Antonio J. Fernández Leiva Universidad de Málaga, Spain [Games] Antonios Liapis University of Malta, Malta [Games] Bernabé Dorronsoro Universidad de Cádiz, Spain [Networks and Distributed Systems] Bill Langdon University College London, UK [Networks and Distributed Systems; Numerical Optimization] Carlos Cotta Universidad de Málaga, Spain [Engineering and Real-World Applications; General] Carlos M. Fernandes Instituto Superior Técnico, Universidade de Lisboa, Portugal [General] Cedric Buche ENIB, France [Games] Charly Lersteau Liverpool John Moores University, UK [General] Clara Pizzuti ICAR-CNR, Italy [Life Sciences] Claudio Rossi Universidad Politecnica de Madrid, Spain [Robotics] Daniel Hernández Instituto Tecnológico Nacional, México [Engineering and Real-World Applications; General] David Camacho Universidad Autónoma de Madrid, Spain [Games] David Pelta Universidad de Granada, Spain [Numerical Optimization] Doina Bucur University of Twente, The Netherlands [General; Networks and Distributed Systems] Dominik Sobania Mainz University, Germany [General] Edward Keedwell University of Exeter, UK [Image and Signal Processing] Emma Hart Edinburgh Napier University, UK [Engineering and Real-World Applications] Ernesto Tarantino Italian National Research Council, Italy [Engineering and Real-World Applications] Evelyne Lutton INRA, France [Image and Signal Processing] Fabio Caraffini De Montfort University, UK [General; Life Sciences] Federico Liberatore Universidad Carlos III, Spain [Games] x Organization

Ferrante Neri De Monfort University, UK [Engineering and Real-World Applications; Numerical Optimization] Francesco Fontanella Università degli studi di Cassino, Italy [Engineering and Real-World Applications; Image and Signal Processing] Francisco Chávez de la O University of Extremadura, Spain [General] Francisco Fernández Universidad de Extremadura, Spain [Engineering de Vega and Real-World Applications] Francisco Luna Universidad de Málaga, Spain [Networks and Distributed Systems] Frank Veenstra Edinburgh Napier University, UK [General; Robotics] Frank W. Moore University of Alaska Anchorage, USA [Engineering and Real-World Applications] Frederic Guinand Université du Havre Normandie, France [General; Networks and Distributed Systems; Life Sciences] Gabriel Luque Universidad de Málaga, Spain [General] Gareth Howells University of Kent, UK [Image and Signal Processing] Geoff Nitschke University of Cape Town, South Africa [Neuroevolution and Data Analytics; Robotics] Giovanni Iacca University of Trento, Italy [Life Sciences] Giovanni Squillero Politecnico di Torino, Italy [Engineering and Real-World Applications] Gregoire Danoy University of Luxembourg, Luxembourg [Networks and Distributed Systems] Guenter Rudolph University of Dortmund, Germany [Numerical Optimization] Gul Muhammad Khan University of Engineering and Technology, Pakistan [Neuroevolution and Data Analytics] Gustavo Olague CICESE, México [General; Image and Signal Processing; Networks and Distributed Systems; Neuroevolution and Data Analytics] Heiko Hamann University of Lübeck, Germany [Engineering and Real-World Applications; Neuroevolution and Data Analytics; Robotics] Ignacio Arnaldo MIT, USA [Networks and Distributed Systems] Igor Deplano Liverpool John Moores University, UK [General] Ivanoe De Falco ICAR- CNR, Italy [Image and Signal Processing] Iwona Karcz-Duleba University of Wroclaw, Poland [Numerical Optimization] James Foster University of Idaho, USA [General] János Botzheim Budapest University of Technology, Hungary [Engineering and Real-World Applications; General] Jared Moore Grand Valley State University, USA [Engineering and Real-World Applications] Organization xi

Jean-Baptiste Mouret Institut des Systémes Intelligents et de Robotique, France [Neuroevolution and Data Analytics; Robotics] Jean-Marc Montanier Norwegian University of Science and Technology, Norway [Engineering and Real-World Applications; Neuroevolution and Data Analytics] Jhon E. Amaya Universidad Nacional Experimental del Táchira, Venezuela [General; Neuroevolution and Data Analytics] Joel Lehman Uber AI Labs, USA [Neuroevolution and Data Analytics] Johan Hagelback Blekinge Tekniska Hogskola, Sweden [Games] Joost Huizinga Uber AI Labs, USA [Robotics] José Carlos Bregieiro Polytechnic Institute of Leiria, Portugal [General; Ribeiro Networks and Distributed Systems] Jose Ignacio Hidalgo Universidad Complutense de Madrid, Spain [Networks and Distributed Systems] José Manuel Colmenar Universidad Rey Juan Carlos, Spain [Networks and Distributed Systems] Jose Santos Reyes Universidad de A Coruña, Spain [Robotics] Joshua Auerbach Champlain College, USA [General; Neuroevolution and Data Analytics] Juan Julián Merelo-Guervós Universidad de Granada, Spain [Networks and Distributed Systems] Juan L. Jiménez-Laredo RI2C/LITIS, Université du Havre Normandie, France [Networks and Distributed Systems] Julian Francis Miller University of York [Image and Signal Processing] Kai Ellefsen University of Oslo, Norway [Neuroevolution and Data Analytics; Robotics] Lucia Ballerini University of Edinburgh, UK [Image and Signal Processing] Maizura Mokhtar Heriot-Watt University, USA [Engineering and Real-World Applications] Malcolm Heywood Dalhousie University, Canada [Engineering and Real-World Applications] Marc Ebner Ernst Moritz Arndt Universität Greifswald, Germany [Image and Signal Processing] María Arsuaga-Ríos CERN, Switzerland [Networks and Distributed Systems; Neuroevolution and Data Analytics] Mario Cococcioni NATO Undersea Research Centre, Italy [Engineering and Real-World Applications] Mario Giacobini University of Torino, Italy [Engineering and Real-World Applications; General; Life Sciences] Markus Wagner University of Adelaide, Australia [Engineering and Real-World Applications] xii Organization

Mengjie Zhang University of Wellington, New Zealand [Image and Signal Processing] Michael Guckert University of Lille, France [Engineering and Real-World Applications; General] Michael Lones Heriot-Watt University, UK [Image and Signal Processing] Mihai Polceanu ENIB, France [Games] Mohammed Salem University of Mascara, Algeria [Engineering and Real-World Applications; Games] Moshe Sipper Ben-Gurion University of the Negev, Israel [General; Games] Nadarajen Veerapen Technische Hochschule Mittelhessen, Germany [General; Engineering and Real-World Applications] Neil Urquhart Edinburgh Napier University, UK [Engineering and Real-World Applications] Nelishia Pillay University of Pretoria, South Africa [Engineering and Real-World Applications] Nicolas Bredeche Sorbonne Université, France [Robotics] Oliver Kramer University of Oldenburg, Germany [Image and Signal Processing; Numerical Optimization] Pablo García-Sánchez Universidad de Cádiz, Spain [Games; Networks and Distributed Systems] Pablo Mesejo Santiago Universidad de Granada, Spain [Engineering and Real-World Applications; Image and Signal Processing] Paul Kaufmann Mainz University, Germany [Networks and Distributed Systems] Penousal Machado University of Coimbra, Portugal [Engineering and Real-World Applications; Image and Signal Processing; Neuroevolution and Data Analytics] Petr Posik Czech Technical University, Czech Republic [Numerical Optimization] Philip Bontrager New York University, USA [Neuroevolution and Data Analytics] Rafael Nogueras Universidad de Málaga, Spain [General; Networks and Distributed Systems; Neuroevolution and Data Analytics] Rafael Villanueva Universitat Politècnica de València, Spain [Networks and Distributed Systems] Ran Wang Liverpool John Moores University, UK [General] Raúl Lara-Cabrera Universidad Autónoma de Madrid, Spain [Games; General; Neuroevolution and Data Analytics] Renato Tinos University of Sao Paulo, Brazil [Engineering and Real-World Applications] Organization xiii

Riccardo Pecori eCampus University, Novedrate, Italy [Networks and Distributed Systems] Riccardo Poli University of Essex, UK [Image and Signal Processing] Richard Guest University of Kent, UK [Image and Signal Processing] Roman Kalkreuth TU Dortmund, Germany [General] Ryan Urbanowicz University of Pennsylvania, USA [General] Sam Kriegman University of Vermont, USA [Neuroevolution and Data Analytics] Sanem Sariel Istanbul Technical University, Turkey [Engineering and Real-World Applications; Games] Sara Silva Universidade de Lisboa, Portugal [Engineering and Real-World Applications] Sebastien Varrette University of Luxembourg, Luxembourg [Networks and Distributed Systems] Sevil Sen Hacettepe University, Turkey [Engineering and Real-World Applications; Networks and Distributed Systems] Shayan Kavakeb AECOM, UK [General] Stefano Cagnoni University of Parma, Italy [Engineering and Real-World Applications; Image and Signal Processing] Stenio Fernandes Federal University of Pernambuco, Brazil [Engineering and Real-World Applications; Networks and Distributed Systems] Thomas Schmickl Karl Franzens University Graz, Austria [Games] Tiago Baptista Universidade de Coimbra, Portugal [General] Ting Hu Dartmouth College, USA [Life Sciences] Una-May O’Reilly MIT, USA [Engineering and Real-World Applications] Vincent Moulton University of East Anglia, UK [Life Sciences] Vinícius Veloso de Melo UNIFESP-SJC, Brazil [General] Vitoantonio Bevilacqua Politecnico di Bari, Italy [General] Yannis Ancele Liverpool John Moores University, UK [General] Yoann Pigne University of Le Havre, France [Networks and Distributed Systems] Youssef Nashed Argonne Laboratories, USA [Image and Signal Processing; Networks and Distributed Systems; Neuroevolution and Data Analytics] Contents

Engineering and Real-World Applications

A Comparison of Different Many-Objective Optimization Algorithms for Energy System Optimization ...... 3 Tobias Rodemann

Design of Powered Floor Systems for Mobile Robots with Differential Evolution ...... 19 Eric Medvet, Stefano Seriani, Alberto Bartoli, and Paolo Gallina

Solving the Multi-objective Flexible Job-Shop Scheduling Problem with Alternative Recipes for a Chemical Production Process...... 33 Piotr Dziurzanski, Shuai Zhao, Jerry Swan, Leandro Soares Indrusiak, Sebastian Scholze, and Karl Krone

Quantifying the Effects of Increasing User Choice in MAP-Elites Applied to a Workforce Scheduling and Routing Problem ...... 49 Neil Urquhart, Emma Hart, and William Hutcheson

A Hybrid Multiobjective Differential Evolution Approach to Stator Winding Optimization ...... 64 André M. Silva, Fernando J. T. E. Ferreira, and Carlos Henggeler Antunes

GA-Novo: De Novo Peptide Sequencing via Tandem Mass Spectrometry Using Genetic Algorithm ...... 72 Samaneh Azari, Bing Xue, Mengjie Zhang, and Lifeng Peng

Ant Colony Optimization for Optimized Operation Scheduling of Combined Heat and Power Plants ...... 90 Johannes Mast, Stefan Rädle, Joachim Gerlach, and Oliver Bringmann

A Flexible Dissimilarity Measure for Active and Passive 3D Structures and Its Application in the Fitness–Distance Analysis ...... 106 Maciej Komosinski and Agnieszka Mensfelt

Games

Free Form Evolution for Angry Birds Level Generation...... 125 Laura Calle, Juan J. Merelo, Antonio Mora-García, and José-Mario García-Valdez xvi Contents

Efficient Online Hyperparameter Adaptation for Deep Reinforcement Learning ...... 141 Yinda Zhou, Weiming Liu, and Bin Li

GAMER: A Genetic Algorithm with Motion Encoding Reuse for Action-Adventure Video Games...... 156 Tasos Papagiannis, Georgios Alexandridis, and Andreas Stafylopatis

Effects of Input Addition in Learning for Adaptive Games: Towards Learning with Structural Changes...... 172 Iago Bonnici, Abdelkader Gouaïch, and Fabien Michel

General

Supporting Medical Decisions for Treating Rare Diseases Through Genetic Programming ...... 187 Illya Bakurov, Mauro Castelli, Leonardo Vanneschi, and Maria João Freitas

Evolutionary Successful Strategies in a Transparent iterated Prisoner’s Dilemma...... 204 Anton M. Unakafov, Thomas Schultze, Igor Kagan, Sebastian Moeller, Alexander Gail, Stefan Treue, Stephan Eule, and Fred Wolf

Evolutionary Algorithms for the Design of Quantum Protocols ...... 220 Walter Krawec, Stjepan Picek, and Domagoj Jakobovic

Evolutionary Computation Techniques for Constructing SAT-Based Attacks in Algebraic Cryptanalysis ...... 237 Artem Pavlenko, Alexander Semenov, and Vladimir Ulyantsev

On the Use of Evolutionary Computation for In-Silico Medicine: Modelling Sepsis via Evolving Continuous Petri Nets ...... 254 Ahmed Hallawa, Elisabeth Zechendorf, Yi Song, Anke Schmeink, Arne Peine, Lukas Marin, Gerd Ascheid, and Guido Dartmann

A Cultural Algorithm for Determining Similarity Values Between Users in Recommender Systems ...... 270 Kalyani Selvarajah, Ziad Kobti, and Mehdi Kargar

Image and Signal Processing

Optimizing the C Index Using a Canonical Genetic Algorithm ...... 287 Thomas A. Runkler and James C. Bezdek

Memetic Evolution of Classification Ensembles ...... 299 Szymon Piechaczek, Michal Kawulok, and Jakub Nalepa Contents xvii

Genetic Programming for Feature Selection and Feature Combination in Salient Object Detection...... 308 Shima Afzali, Harith Al-Sahaf, Bing Xue, Christopher Hollitt, and Mengjie Zhang

Variable-Length Representation for EC-Based Feature Selection in High-Dimensional Data ...... 325 N. D. Cilia, C. De Stefano, F. Fontanella, and A. Scotto di Freca

Life Sciences

A Knowledge Based Differential Evolution Algorithm for Protein Structure Prediction ...... 343 Pedro H. Narloch and Márcio Dorn

A Biased Random Key Genetic Algorithm with Local Search Chains for Molecular Docking...... 360 Pablo F. Leonhart and Márcio Dorn

Self-sustainability Challenges of Plants Colonization Strategies in Virtual 3D Environments ...... 377 Kevin Godin-Dubois, Sylvain Cussat-Blanc, and Yves Duthen

Networks and Distributed Systems

Early Detection of Botnet Activities Using Grammatical Evolution ...... 395 Selim Yilmaz and Sevil Sen

Exploring Concurrent and Stateless Evolutionary Algorithms ...... 405 Juan J. Merelo, J. L. J. Laredo, Pedro A. Castillo, José-Mario García-Valdez, and Sergio Rojas-Galeano

Evolving Trust Formula to Evaluate Data Trustworthiness in VANETs Using Genetic Programming...... 413 Mehmet Aslan and Sevil Sen

A Matheuristic for Green and Robust 5G Virtual Network Function Placement ...... 430 Thomas Bauschert, Fabio D’Andreagiovanni, Andreas Kassler, and Chenghao Wang

Prolong the Network Lifetime of Wireless Underground Sensor Networks by Optimal Relay Node Placement ...... 439 Nguyen Thi Tam, Huynh Thi Thanh Binh, Tran Huy Hung, Dinh Anh Dung, and Le Trong Vinh xviii Contents

Neuroevolution and Data Analytics

The Evolution of Self-taught Neural Networks in a Multi-agent Environment ...... 457 Nam Le, Anthony Brabazon, and Michael O’Neill

Coevolution of Generative Adversarial Networks ...... 473 Victor Costa, Nuno Lourenço, and Penousal Machado

Evolving Recurrent Neural Networks for Time Series Data Prediction of Coal Plant Parameters ...... 488 AbdElRahman ElSaid, Steven Benson, Shuchita Patwardhan, David Stadem, and Travis Desell

Improving NeuroEvolution Efficiency by Surrogate Model-Based Optimization with Phenotypic Distance Kernels ...... 504 Jörg Stork, Martin Zaefferer, and Thomas Bartz-Beielstein

Numerical Optimization: Theory, Benchmarks and Applications

Compact Optimization Algorithms with Re-Sampled Inheritance ...... 523 Giovanni Iacca and Fabio Caraffini

Particle Swarm Optimization: Understanding Order-2 Stability Guarantees . . . 535 Christopher W. Cleghorn

Fundamental Flowers: Evolutionary Discovery of Coresets for Classification...... 550 Pietro Barbiero and Alberto Tonda

Robotics

Influence of Local Selection and Robot Swarm Density on the Distributed Evolution of GRNs ...... 567 Iñaki Fernández Pérez and Stéphane Sanchez

Body Symmetry in Morphologically Evolving Modular Robots...... 583 T. van de Velde, C. Rossi, and A. E. Eiben

Trophallaxis, Low-Power Vision Sensors and Multi-objective Heuristics for 3D Scene Reconstruction Using Swarm Robotics...... 599 Maria Carrillo, Javier Sánchez-Cubillo, Eneko Osaba, Miren Nekane Bilbao, and Javier Del Ser

Evolving Robots on Easy Mode: Towards a Variable Complexity Controller for Quadrupeds ...... 616 Tønnes F. Nygaard, Charles P. Martin, Jim Torresen, and Kyrre Glette Contents xix

Introducing Weighted Intermediate Recombination in On-Line l=l ; Collective Robotics, the ( W 1)-ON-LINE EEA...... 633 Amine Boumaza

Author Index ...... 641