Table 2.

Other learning rules.

Learning rule		Robot	Sensor	Methodology	Reference
Evolutionary algorithms		Neural Racing game	Speedometer, Proximity Sensors	Using evolutionary algorithm to train SNN and compare results with multi-layer perceptron	Markowska and Koldowski, 2015
		Quadrotor	GPS	Using evolutionary algorithm to generate high utility topology/weight combinations in the SNN	Howard and Elfes, 2014
		Two-wheel Vehicle	5 IR Sensors	Using SNN to mimic the behaviors captured under control of a heuristic rule program	Batllori et al., 2011
		Khepera Robot (Two-wheel Vehicle)	Linear Camera	Using evolution to rapidly generate SNN capable of navigating in a textual environment	Floreano et al., 2006; Floreano and Mattiussi, 2001
		Two-wheel Vehicle	4 IR Sensors	A use-dependent synaptic modification algorithm of SNN for obstacle-avoidance vehicle behavior	Alnajjar and Murase, 2006
		Two-wheel Vehicle	9 Ultrasonic Sensors, 4 Bump Sensors	Using an adaptive GA to evolve the SNN online through interaction with the real environment	Hagras et al., 2004
Fuzzy logical		Two-wheel Vehicle	7 Ultrasonic Sensors (5 in front, 2 at back)	Using SNN to mimic the knowledge of a fuzzy controller	Kubota, 2004
Liquid state machine		Hexapod Robot	Visual Sensor (Distance, Height)	Mushroom bodies in drosophila are modeled as a recurrent SNN under LSM paradigm	Arena et al., 2017
		2-Dof Ball Balance Platform	Position and Velocity	Using a cortical network (LSM) to learn under a supervised learning rule for position control	Probst et al., 2012
		Khepera Robot	8 IR Sensors	Using Randomly generated recurrent SNN to operate real-time obstacle avoidance	Burgsteiner, 2005