Dangerousness Metric for Gene Regulated Car Driving

i is the current concentration of the protein i and is a function that keeps of the sum of all protein concentrations equal to 1. and ⇥ are two constants that set up the speed of reaction of the regulatory network. The higher these values, the more sudden the transitions in the GRN. The lower they are, the smoother the transitions are. Whereas the input proteins of a GRN can be used to describe the current state of the environment, the output proteins provide the answer of the network. The network can also be easily encoding in a genome so that it can be evolved to be adapted problem. The next section presents how the GRN is used to generate pictures and how it is encoded to be evolved by an evolutionary algorithm. Picture generation Binding between a GRN and a picture To generate a picture with a GRN, the GRN calculates the RGB color of each pixel of the picture. To do so, the GRN has two inputs that correspond to the coordinates of the current pixel and three outputs, one for each color component. The coordinate (x, y) of a pixel are transformed into proteins concentrations so that they do not overflow the network: