The Emergence of Multi-Cellular Robot Organisms through On-line On-board Evolution

B.P.M. Weel, E.W. Haasdijk, A.E. Eiben

Research output: Contribution to JournalArticleAcademicpeer-review


We investigate whether a swarm of robots can evolve controllers that cause aggregation into 'multi-cellular' robot organisms without a specific reward to do so. To this end, we create a world where aggregated robots receive more energy than individual ones and enable robots to evolve their controllers on-the-fly, during their lifetime. We perform experiments in six different implementations of the basic idea distinguished by the system of energy distribution and the level of advantage aggregated robots have over individual ones. The results show that 'multi-cellular' robot organisms emerge in all of these cases. © 2012 Springer-Verlag.
Original languageEnglish
Pages (from-to)124-134
JournalLecture Notes in Computer Science
Publication statusPublished - 2012
EventEvoApplications -
Duration: 11 Apr 201213 Apr 2012

Bibliographical note

Proceedings title: Applications of Evolutionary Computation: Proceedings of EvoApplications 2012
Publisher: Springer
ISBN: 978-3-642-29178-4
Editors: C di Chio


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