Cost functions Computer simulation 6 Optimization 6 Annealing 4 Bar attendance model (BAM) 4 Costs 4 Game theory 4 Heat treatment 4 Mathematical models 4 Minority game (MG) 4 Perturbation techniques 4 Temperature measurement 4 Thermal perturbation 4 Acoustic characteristic 2 Acoustic conditions 2 Algorithms 2 Computational complexity 2 Cost benefit analysis 2 Discriminant analysis 2 Emergent cooperative behavior 2 Functions 2 Joint modeling 2 Mobile robots 2 Nonlinear systems 2 Planning by non-linear optimization 2 Planning by non-linear- optimization 2 Probabilistic linear discriminant analysis 2 Problem solving 2 Robot soccer 2 Speaker recognition 2