Body-brain co-evolution using L-systems as a generative encoding

Abstract

We co-evolve the morphology and controller of artificial creatures using two integrated generative processes. L-systems are used as the common generative encoding for both body and brain. Combining the languages of both into a single L-system allows for linkage between the genotype of the controller and the parts of the morphology that it controls. Creatures evolved by this system are more complex than previous work, having an order of magnitude more parts and a higher degree of regularity.