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This paper presents a proof of concept demonstration of a novel evolutionary robotic system where robots can self-reproduce. We construct and investigate a strongly embodied evolutionary system, where not only the controllers, but also the morphologies undergo evolution in an on-line fashion. Forced by the lack of available hardware we build this system in simulation. However, we use a high quality...
Parameter controllers for Evolutionary Algorithms (EAs) deal with adjusting parameter values during an evolutionary run. Many ad hoc approaches have been presented for parameter control, but few generic parameter controllers exist and, additionally, no comparisons or in depth analyses of these generic controllers are available in literature. This paper presents an extensive comparison of such generic...
We propose a new scenario for the evolution of robot morphologies based on an egg metaphor. A swarm of robots is released in a large arena in which they form organisms through a process of morphogenesis. These organisms can reproduce by fertilising eggs in their vicinity, these fertilised eggs in turn build new organisms by recruiting free modules as a ‘seed’. We investigate the influence of three...
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