A Re-examination Of The Cart Centering Problem Using The Chorus System

The cart centering problem is well known in the eld of evolutionary algorithms and has often been used as a proof of concept problem for techniques such as Genetic Programming. This paper describes the application of a grammar based, position independent encoding scheme, Chorus, to the problem. It is shown that using the traditional experimental setup employed to solve the problem, Chorus is able to come up with the solutions which appear to beat the theoretically optimal solution, known and accepted for decades in the eld of control theory. However, further investigation into the literature of the relevant area reveals that there is an inherent error in the standard E.C. experimental approach to this problem, leaving room for a multitude of solutions to outperform the apparent best. This argument is validated by the performance of Chorus, producing better solutions at a number of occasions.