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The distributed co evolution of an embodied simulator and controller for swarm robot behaviours

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Academic year: 2020

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Figure

Fig. 1.Addressing numbered points: 1) A genetic algorithm evolves a localpopulation of controller solutions through the embedded simulator
Fig. 2. The three environment scenarios (not to scale). Large circular outlinesrepresent the arena enclosure
Fig 6 shows the quantity of total food items deposited at thenest site in each experiment
Fig. 7.The time taken to return food to the nest in each experiment case,showing the distribution of results for all tests before and after any change tothe environment.
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