Seiya Fujii Tomoharu Nakashima Hisao Ishibuchi A study on constructing fuzzy systems for high-level decision making in a car racing game. 3626-3633 2008 IEEE Congress on Evolutionary Computation http://dx.doi.org/10.1109/CEC.2008.4631289 conf/cec/2008 db/conf/cec/cec2008.html#FujiiNI08