SIGGRAPH '94 Proceedings of the 21st annual conference on Computer graphics and interactive techniques
Evolving spring-mass models: a test-bed for graph encoding schemes
CEC '02 Proceedings of the Evolutionary Computation on 2002. CEC '02. Proceedings of the 2002 Congress - Volume 02
An evolvability-enhanced artificial embryogeny for generating network structures
Proceedings of the 10th annual conference on Genetic and evolutionary computation
JSEL: jamming skin enabled locomotion
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Biologically inspired evolutionary development
ICES'03 Proceedings of the 5th international conference on Evolvable systems: from biology to hardware
ECAL'09 Proceedings of the 10th European conference on Advances in artificial life: Darwin meets von Neumann - Volume Part I
ECAL'09 Proceedings of the 10th European conference on Advances in artificial life: Darwin meets von Neumann - Volume Part I
On the shape of a set of points in the plane
IEEE Transactions on Information Theory
Proceedings of the 14th annual conference companion on Genetic and evolutionary computation
Proceedings of the 15th annual conference on Genetic and evolutionary computation
Open-ended behavioral complexity for evolved virtual creatures
Proceedings of the 15th annual conference on Genetic and evolutionary computation
Evolutionary design of soft-bodied animats with decentralized control
Artificial Life and Robotics
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We present a platform that allows for co-evolution of development and motion control of soft-bodied, multicellular animats in a 2-dimensional fluid-like environment. Artificial gene regulatory networks (GRNs) with real-valued expression levels control cell division and differentiation in multicellular embryos. Embryos develop in a simulated physics environment and are converted into animat structures by connecting neighboring cells with elastic springs. The springs connecting outer cells form the external envelope which is subject to fluid drag. Both the developmental program and motion control are encoded indirectly in a single linear genome, which consists of regulatory regions and regions that code for regulatory products (some of which act as morphogens). We applied a genetic algorithm to co-evolve morphology and control using a fitness measure whose value depends on distance traveled during the evaluation phase. We obtained various emergent morphologies and types of locomotion, some of them showing the use of appendages.