@conference { koza:1997:aptorc,
	title = {Automatic programming of a time-optimal robot controller and an analog electrical circuit to implement the robot controller by means of genetic programming},
	year = {1997},
	pages = {340--346},
	publisher = {Computer Society Press},
	type = {inproceedings},
	address = {Los Alamitos, CA, USA},
	abstract = {Genetic programming is an automatic programming
                 technique that evolves computer programs to solve, or
                 approximately solve, problems. This paper presents two
                 examples in which genetic programming creates a
                 computer program for controlling a robot so that the
                 robot moves to a specified destination point in minimal
                 time. In the first approach, genetic programming
                 evolves a computer program composed of ordinary
                 arithmetic operations and conditional operations to
                 implement a time-optimal control strategy. In the
                 second approach, genetic programming evolves the design
                 of an analog electrical circuit consisting of
                 transistors, diodes, resistors, and power supplies to
                 implement a near-optimal control strategy.},
	keywords = {genetic algorithms, genetic programming},
	URL = {http://www.genetic-programming.com/jkpdf/cira1997.pdf},
	author = { Koza, John R.  and  III, Forrest H Bennett  and  Keane, Martin A.  and  Andre, David}
}