the robot towards the light source and avoiding obstacles. The objective function for an evaluation period of $\tau$ timesteps is as follows: $$\label{eq:t1}
\mathcal{F}_{T_1} = \sum_{t=0}^{\tau} (f_{obs} + f_{light})$$ where,$  f_{obs} = v_{trans} * (1 - v_{rot}) * d$ \[eq:t1a\]\
$f_{light} = \max\limits_{1 \leq j \leq 2} (lightSensor_{i})$\
\[eq:t1b\] $f_{obs}$ is a classical function adapted from [@nolfi1998evolutionary] wherein $v_{trans}$ is the translational speed, $v_{rot}$ is the rotational speed and $d$ is the distance between the obstacle and the US on-board the robot. $v_{trans}$, $v_{rot}$ and $d$, are all normalised between 0 and 1. The fitness function $f_{light}$ rewards movement towards the light source. $lightSensor_i$ is the normalised value from the LS between 0 (no light) and 1 (brightest light).\
*Scenario $S_2$ - Static Environment with Puck Pushing*: The primary goal here was to push the yellow coloured pucks towards the light source while also avoiding the walls. If no pucks are encountered, the robot should continue moving towards the light source. The CS fixed behind the gripper facilitates the detection of the puck based on its colour. Along with the sub-goals defined in $S_1$, the task $S_2$ also comprises a fitness function to reward the controlled pushing of the puck 