SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
Division blocks and the open-ended evolution of development, form, and behavior
Proceedings of the 9th annual conference on Genetic and evolutionary computation
Evolving morphology and control: a distributed approach
CEC'09 Proceedings of the Eleventh conference on Congress on Evolutionary Computation
A gene regulatory model for the development of primitive nervous systems
ICONIP'08 Proceedings of the 15th international conference on Advances in neuro-information processing - Volume Part I
Evolution of neural organization in a hydra-like animat
ICONIP'08 Proceedings of the 15th international conference on Advances in neuro-information processing - Volume Part I
Evolving heterochrony for cellular differentiation using vector field embryogeny
Proceedings of the 12th annual conference on Genetic and evolutionary computation
Evolution of neural symmetry and its coupled alignment to body plan morphology
Proceedings of the 13th annual conference on Genetic and evolutionary computation
ECAL'09 Proceedings of the 10th European conference on Advances in artificial life: Darwin meets von Neumann - Volume Part I
Evolving flexible joint morphologies
Proceedings of the 14th annual conference on Genetic and evolutionary computation
A cell-based developmental model to generate robot morphologies
Proceedings of the 14th annual conference on Genetic and evolutionary computation
Co-evolution of morphology and control of soft-bodied multicellular animats
Proceedings of the 14th annual conference on Genetic and evolutionary computation
Proceedings of the 14th annual conference companion on Genetic and evolutionary computation
Evolutionary design of soft-bodied animats with decentralized control
Artificial Life and Robotics
A review of morphogenetic engineering
Natural Computing: an international journal
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A model for co-evolving behavior control and morphological development is presented in this paper. The development of the morphology starts with a single cell that is able to divide or die, which is controlled by a gene regulatory network. The cells are connected by springs and form the morphology of the grown individuals. The movements of animats are resulted from the shrinking and relaxation of the springs connecting the lateral cells on the body morphology. The gene regulatory network, together with the frequency and phase shifts of the spring movements are evolved to maximize the distance that the animats can swim in a given time interval. To facilitate the evolution of swimming animats, a term that awards an elongated morphology is also included in the fitness function. We show that animats with different body-plans emerge in the evolutionary runs and that the evolved movement control strategy is coupled with the body plan.