| Abstract |
In an application where autonomous robots can amalgamate spontaneously into arbitrary organisms, the individual robots cannot know a priori at which location in an organism they will end up.
If the organism is to be controlled autonomously by the constituent robots, an evolutionary algorithm that evolves the controllers can only develop a single genome that will have to suffice for every individual robot.
However, the robots should show different behaviour depending on their position in an organism, meaning their phenotype should be different depending on their location.
I will demonstrate a solution for this problem using the HyperNEAT generative encoding technique with differentiated genome expression.
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