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Robust behavioral control programs for a simulated 2d vehicle can be constructed by artificial evolution. Corridor following serves here as an example of a behavior to be obtained through evolution. A controller's fitness is judged by its ability to steer its vehicle along a collision free path through a simple corridor environment. The controller's inputs are noisy range sensors and its output is a noisy steering mechanism. Evolution determines the quantity and placement of sensors. Noise in fitness tests discourages brittle strategies and leads to the evolution of robust, noise-tolerant controllers. Genetic Programming is used to model evolution, the controllers are represented as deterministic computer programs.