Partial recombination for the co-evolution of model parameters

Partial recombination is a type of crossover for genetic algorithms that focuses on a subset of the chromosome. It provides a means of doing crossover were only the genes involved in producing the fitness are affected. In this paper, we use it to evolve the parameters for a model that represents the capabilities of a robot. The values of these parameters are evolved as the robot periodically performs an action that is also being performed by the model. Each action performed by the robot does not include every possible turn command so using partial recombination allows the system to only change the parameters involved in the action. Tests show that partial recombination makes a significant difference in the co-evolution of model parameters.