Evolutionary robotics takes inspiration from natural evolution to automatically design robot bodies and brains (neural networks) and to understand evolution of living systems. From an artificial intelligence perspective, we are interested in open-ended evolution, evolution of multi-cellular soft robots, and evolution of swarming systems. From a biological perspective, we are interested in understanding the evolutionary emergence and principles of cooperation, competition, division of labour, and communication.
We are also interested in promoting the understanding and study of evolution by means of software and hardware educational tools. We developed RoboGen™, an open-source software for the co-evolution of neural controllers and body shapes in physics-based simulations where evolved body parts can be 3D-printed and assembled with low-cost, off-the-shelf electronic components.
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2025
Evolutionary Codesign and Fabrication of Tensegrity Joints with Integrated Pneumatic Artificial Muscles
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The evolution of behavioral cues and signaling in displaced communication
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Model Predictive Control of Aerial Swarms
Lausanne, EPFL, 2022.2021
Predictive control of aerial swarms in cluttered environments
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Bio-inspired Tensegrity Soft Modular Robots
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Scientific Reports. 2017. Vol. 7, p. 235. DOI : 10.1038/s41598-017-00266-w.2016
Evolutionary Robotics
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2016. GECCO ’16, Denver, Colorado, USA, 20-24 07 2016. p. 821 – 828. DOI : 10.1145/2908812.2908886.Memetic Viability Evolution for Constrained Optimization
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Fluctuation-driven neural dynamics reproduce Drosophila locomotor patterns
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Artificial Evolution by Viability Rather Than Competition
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2014. 13th International Conference on Parallel Problem Solving From Nature, Ljubljana, Slovenia, September 13-17, 2014. p. 272 – 281. DOI : 10.1007/978-3-319-10762-2_27.From Genes to Organisms : Bioinformatics System Models and Software
Lausanne, EPFL, 2014.2013
Soft Cell Simulator: A tool to study Soft Multi-Cellular Robots
2013. IEEE International Conference on Robotics and Biomimetics, Shenzhen, China, December 12-14, 2013. p. 1300 – 1305. DOI : 10.1109/ROBIO.2013.6739644.Using robots to understand social behavior
Biological Reviews. 2013. num. 88, p. 31 – 39. DOI : 10.1111/j.1469-185X.2012.00236.x.Evolving team compositions by agent swapping
IEEE Transactions on Evolutionary Computation. 2013. Vol. 17, num. 2, p. 282 – 298. DOI : 10.1109/TEVC.2012.2191292.Evolution of division of labor in artificial societies
Lausanne, EPFL, 2013.2012
Differences in the Concept of Fitness Between Artificial Evolution and Natural Selection
2012. Artificial Life 13, the Thirteenth International Conference on the Simulation and Synthesis of Living Systems, East Lansing, Michigan, USA, July 19-22, 2012. p. 530 – 531.Historical contingency affects signaling strategies and competitive abilities in evolving populations of simulated robots
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2012. Artificial Life 13, the Thirteenth International Conference on the Simulation and Synthesis of Living Systems, East Lansing, Michigan, USA, July 19-22, 2012. p. 561 – 562.Fluorescence Behavioral Imaging (FBI) tracks identity in heterogeneous groups of Drosophila
PLOS One. 2012. Vol. 7, num. 11, p. e48381. DOI : 10.1371/journal.pone.0048381.Neural networks as mechanisms to regulate division of labor
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GeneNetWeaver: In silico benchmark generation and performance profiling of network inference methods
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PLOS Biology. 2011. Vol. 9, num. 5, p. e1000615. DOI : 10.1371/journal.pbio.1000615.Genetic Representation of Adaptive Neural Controllers
Lausanne, EPFL, 2011.myCopter – Enabling Technologies for Personal Aerial Transportation Systems.
2011. European Rotorcraft Forum, Vergiate/Gallarate, Italy, September 13-15, 2011.2010
Task-dependent influence of genetic architecture and mating frequency on division of labour in social insect societies
Behavioral Ecology and Sociobiology. 2010. Vol. 64, p. 675 – 684. DOI : 10.1007/s00265-009-0885-4.GeneNetWeaver 3.0: realistic benchmark generation and performance profiling of network inference methods
All-SystemsX.ch-Day 2010, Geneva, Switzerland, November 1-2, 2010.Swarm Intelligence. Proceedings of the 7th International Conference, ANTS 2010
2010.GeneNetWeaver 3.0: realistic benchmark generation and performance profiling of network inference methods
3rd annual joint conference on Systems Biology, Regulatory Genomics, and Reverse Engineering Challenges, New York City, USA, November 16-20, 2010.Communication-based Swarming for Flying Robots
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2010. IEEE International Conference on Robotics and Automation, Workshop on Network Science and Systems Issues in Multi-Robot Autonomy, Anchorage, Alaska, May 7, 2010.Evolutionary Synthesis of Communication-Based Aerial Swarms
Lausanne, EPFL, 2010.Revealing strengths and weaknesses of methods for gene network inference
Proceedings Of The National Academy Of Sciences Of The United States Of America (PNAS). 2010. Vol. 107, num. 14, p. 6286 – 6291. DOI : 10.1073/pnas.0913357107.Evolving Cooperation: From Biology to Engineering
The Horizons of Evolutionary Robotics; Cambridge, USA: MIT Press, 2010.Evolution of Adaptive Behaviour in Robots by Means of Darwinian Selection
PLOS Biology. 2010. Vol. 8, num. 1, p. e100029. DOI : 10.1371/journal.pbio.1000292.Insect Vision: A Few Tricks to Regulate Flight Altitude
Current Biology. 2010. Vol. 20, num. 19, p. R847 – R849. DOI : 10.1016/j.cub.2010.08.022.Genetic representation and evolvability of modular neural controllers
IEEE Computational Intelligence Magazine. 2010. Vol. 5, num. 3, p. 10 – 19. DOI : 10.1109/MCI.2010.937319.2009
Reverse-engineering of Artificially Evolved Controllers for Swarms of Robots
2009. IEEE Congress on Evolutionary Computation, Trondheim, Norway, May 18-21, 2009. p. 55 – 61. DOI : 10.1109/CEC.2009.4982930.Towards a self-deploying and gliding robot
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Journal of Artificial Evolution and Applications. 2009. Vol. 2009, p. 1 – 10. DOI : 10.1155/2009/179680.Evolved swarming without positioning information: an application in aerial communication relay
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2009. 9th Conference on Autonomous Robot Systems and Competitions, Castelo Branco, Portugal, May 7, 2009. p. 59 – 65.A Robotic Platform for Studying the Evolution of Communication
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Lausanne, EPFL, 2009.Replaying the Evolutionary Tape: Biomimetic Reverse Engineering of Gene Networks
Annals of the New York Academy of Sciences. 2009. Vol. 1158, p. 234 – 245. DOI : 10.1111/j.1749-6632.2008.03944.x.Methods for Artificial Evolution of Truly Cooperative Robots
2009. International Workshop on Artificial Neural Network 2009, Salamanca, Spain, June 10-12, 2009. p. 768 – 772. DOI : 10.1007/978-3-642-02478-8_96.The Evolution of Information Suppression in Communicating Robots with Conflicting Interests
Proceedings Of The National Academy Of Sciences Of The United States Of America (PNAS). 2009. Vol. 106, num. 37, p. 15786 – 15790. DOI : 10.1073/pnas.0903152106.2.5D Infrared Range and Bearing System for Collective Robotics
2009. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’2009), St. Louis, October 10-15, 2009. p. 3659 – 3664. DOI : 10.1109/IROS.2009.5354263.The evolution of communication in robot societies
Lausanne, EPFL, 2009.2008
Evolvability of Neuromodulated Learning for Robots
2008. The 2008 ECSIS Symposium on Learning and Adaptive Behavior in Robotic Systems, Edinburgh, Scotland, August 6-8, 2008. p. 41 – 46. DOI : 10.1109/LAB-RS.2008.22.The Age of Analog Networks
AI Magazine. 2008. Vol. 29, num. 3, p. 63 – . DOI : 10.1609/aimag.v29i3.2156.Enactive Robot Vision
Adaptive Behavior. 2008. Vol. 16, num. 2-3, p. 122 – 128. DOI : 10.1177/1059712308089183.Evolution of Altruistic Robots
Computational Intelligence: Research Frontiers; Heidelberg: Springer Verlag, 2008. p. 232 – 248.Scalable Reverse Engineering of Nonlinear Gene Networks
Exhibition of the Master projects, EPFL, Lausanne, Switzerland, March 7, 2008.Evolutionary Advantages of Neuromodulated Plasticity in Dynamic, Reward- based Scenarios
2008. Artificial Life XI, Winchester UK, 5-8 August 2008. p. 569 – .Bio-Inspired Artificial Intelligence: Theories, Methods, and Technologies
Cambridge, MA: MIT Press, 2008.Evolutionary Robotics
Handbook of Robotics; Berlin: Springer Verlag, 2008.Neuroevolution: from architectures to learning
Evolutionary Intelligence. 2008. Vol. 1, num. 1, p. 47 – 62. DOI : 10.1007/s12065-007-0002-4.2007
Pheromone-based Swarming for Position-less MAVs
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2007. IEEE Congress on Evolutionary Computation (CEC 2007) 25-28 Sept. 2007, Singapore, September 25-28, 2007. p. 2471 – 2478. DOI : 10.1109/CEC.2007.4424781.Enactive robot vision
Lausanne, EPFL, 2007.Evolutionary Conditions for the Emergence of Communication in Robots
Current Biology. 2007. Vol. 17, p. 514 – 519. DOI : 10.1016/j.cub.2007.01.058.Evolutionary Swarms of Flying Robots
2007. International Symposium on Flying Insects and Robots, Monte Verità, Switzerland, Monte Verità, Locarno, Switzerland, August 12-17.Method and device for the genetic representation and evolution of networks
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2007.Center of Mass Encoding: A self-adaptive representation with adjustable redundancy for real-valued parameters
2007. GECCO 2007, University College, London, 2007. p. 1304 – . DOI : 10.1145/1276958.1277205.Analog Genetic Encoding for the Evolution of Circuits and Networks
IEEE Transactions on Evolutionary Computation. 2007. Vol. 11, num. 5, p. 596 – . DOI : 10.1109/TEVC.2006.886801.Evolution of cooperation in artificial ants
Lausanne, EPFL, 2007.Bio-mimetic Evolutionary Reverse Engineering of Genetic Regulatory Networks
2007. 5th European Conference on Evolutionary Computation, Machine Learning and Data Mining in Bioinformatics (EvoBIO 2007), València, 11.4.-13.4.07. p. 155 – 165. DOI : 10.1007/978-3-540-71783-6_15.Evolutionary morphogenesis for multi-cellular systems
Genetic Programming and Evolvable Machines. 2007. Vol. 8, num. 1, p. 61 – 96. DOI : 10.1007/s10710-006-9019-1.2006
Flying over the Reality Gap: From Simulated to Real Indoor Airships
Autonomous Robots. 2006. Vol. 21, num. 3, p. 243 – 254. DOI : 10.1007/s10514-006-9718-8.Division of labour and colony efficiency in social insects: effects of interactions between genetic architecture, colony kin structure and rate of perturbations
Proceedings of the Royal Society B. 2006. Vol. 273, p. 1815 – 23. DOI : 10.1098/rspb.2006.3513.Active Vision for Neural Development and Landmark Navigation
2006. 50th Anniversary Summit of Artificial Intelligence, Monte Verità, Switzerland, 9-14 July 2006. p. 247 – 248.Omnidirectional Active Vision for Evolutionary Car Driving
2006. The Ninth International Conference on Intelligent Autonomous Systems, Tokyo, Japan, 7-9 March 2006. p. 153 – .Evolutionary Active Vision Toward Three Dimensional Landmark-Navigation
2006. From Animals to Animats 9: The Ninth International Conference on the Simulation of Adaptive Behavior, Roma, Italy, 25-29 September 2006. p. 263 – . DOI : 10.1007/11840541_22.Influence of the level of polyandry and genetic architecture on division of labour
2006. The Tenth International Conference on the Simulation and Synthesis of Living Systems, Bloomington, IN, June 3-7, 2006. p. 358 – 364.Artificial Life X
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2006. EPFL LATSIS Symposium 2006.Active Vision and Neural Development in Animals and Robots
2006. The Seventh International Conference on Cognitive Modeling, Trieste, Italy, 5-8 April 2006. p. 10 – .Neuroevolution with Analog Genetic Encoding
2006. 9th Conference on Parallel Problem Solving from Nature (PPSN iX), Reykjavik, Iceland, 9-13 September 2006. p. 671 – . DOI : 10.1007/11844297_68.Trends in Dynamic and Embodied Cognition
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International Journal of Intelligent Systems. 2006. Vol. 21, num. 9, p. 1005 – 1024. DOI : 10.1002/int.20173.2005
Superlinear Physical Performances in a SWARM-BOT
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Lausanne, EPFL, 2005.Bio-inspired vision-based flying robots
Lausanne, EPFL, 2005.The SWARM-BOTS Project
Künstliche Intelligenz. 2005. p. 32 – 35.Active Vision and Receptive Field Development in Evolutionary Robots
Evolutionary Computation. 2005. Vol. 13, num. 4, p. 527 – . DOI : 10.1162/106365605774666912.Constraints on Body Movement during Visual Development Affect Behavior of Evolutionary Robots
2005. The International Joint Conference on Neural Networks, Montreal, Canada, 31 July-4 August 2005. p. 2778 – . DOI : 10.1109/IJCNN.2005.1556365.From Wheels to Wings with Evolutionary Spiking Neurons
Artificial Life. 2005. Vol. 11, num. 1-2, p. 121 – 138. DOI : 10.1162/1064546053278900.Co-evolution of Structures and Controllers for Neubot Underwater Modular Robots
2005. 8th European Conference on Artificial Life (ECAL’2005), Canterbury, Kent (UK), 5-9 September. p. 189 – 199. DOI : 10.1007/11553090_20.The Contribution of Active Body Movement to Visual Development in Evolutionary Robots
Neural Networks. 2005. Vol. 18, num. 5/6, p. 656 – . DOI : 10.1016/j.neunet.2005.06.043.The cooperation of swarm-bots: physical interactions in collective robotics
IEEE Robotics & Automation Magazine. 2005. Vol. 12, num. 2, p. 21 – 28. DOI : 10.1109/MRA.2005.1458313.Multi-cellular reconfigurable circuits : evolution, morphogenesis and learning
Lausanne, EPFL, 2005.2004
Optic-flow-based Navigation for Ultralight Indoor Aircraft
Insect Sensors and Robotics, Brisbane, Australia, 23-26 August 2004.Hardware morphogenetic developmental system
2004
Coevolution of active vision and feature selection
Biological Cybernetics. 2004. Vol. 90, num. 3, p. 218 – . DOI : 10.1007/s00422-004-0467-5.The SWARM-BOTS project
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Evolutionary Computation. 2004. Vol. 12, num. 4, p. 495 – . DOI : 10.1162/1063656043138923.Physical connections and cooperation in swarm robotics
2004. 8th Conference on Intelligent Autonomous Systems (IAS8), Amsterdam, NL, March 10-14. p. 53 – 60.Machine Self-Evolution
YLEM journal. 2004. Vol. 24, num. 12, p. 4 – 10.Evolution of Embodied Intelligence
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Autonomous Robots. 2004. Vol. 17, num. 2-3, p. 193 – 221. DOI : 10.1023/B:AURO.0000033972.50769.1c.Evolution of Analog Networks using Local String Alignment on Highly Reorganizable Genomes
2004. NASA/DoD Conference on Evolvable Hardware (EH’2004), Seattle, 24-26 June. p. 30 – 37.Connecting Transistors and Proteins
2004. 9th International Conference on Artificial Life (Alife9), Boston (MA), p. 9 – 14.Genetic and Evolutionary Computation – GECCO 2004
2004. Genetic and Evolutionary Computation Conference.2003
Complex Visual Behavior with Simple Brains: Co-evolutionary Active Vision and Feature Selection
2003. European Cognitive Science Conference, Osnabrück, Germany, 10-13 September. DOI : 10.4324/9781315782362-9.Exploring the T-Maze: Evolving Learning-Like Robot Behaviors using CTRNNs
2003. 2nd European Workshop on Evolutionary Robotics (EvoRob’2003), Essex, UK, 14-16 April. p. 593 – 604. DOI : 10.1007/3-540-36605-9_54.Viability Evolution: Elimination and Extinction in Evolutionary Computation
2003
Hardware spiking neural network with run-time reconfigurable connectivity in an autonomous robot
2003. NASA/DoD Conference on Evolvable Hardware (EH’2003), Chicago, Illinois, USA, July 9-11. p. 189 – 198. DOI : 10.1109/EH.2003.1217666.Effects of group composition and level of selection in the evolution of cooperation in artificial ants
2003. 7th European Conference on Artificial Life (ECAL’2003). p. 128 – 137. DOI : 10.1007/978-3-540-39432-7_14.Evolving Spiking Neurons from Wheels to Wings
2003. 3rd International Symposium on Human and Artificial Intelligence Systems (HART’2002), Fukui, Japan, December 6-7, 2002. p. 65 – 70.Vision-based Navigation from Wheels to Wings
2003. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’2003). p. 2968 – 2973. DOI : 10.1109/IROS.2003.1249322.POEtic Tissue: An Integrated Architecture for Bio-inspired Hardware
2003. 5th International Conference, ICES 2003, Trondheim, Norway, March 17–20, 2003. p. 129 – 140. DOI : 10.1007/3-540-36553-2_12.SWARM-BOT: From Concept to Implementation
2003. International Conference on Intelligent Robots and Systems (IROS’2003). p. 1626 – 1631. DOI : 10.1109/IROS.2003.1248877.Swarm-Bots: Swarm of Mobile Robots able to Self-Assemble and Self-Organize
Ercim News. 2003. num. 53, p. 25 – 26.A Morphogenetic Evolutionary System: Phylogenesis of the POEtic Circuit
2003. 5th International Conference on Evolvable Systems (ICES’2003), Trondheim, Norway, 17-20 March. p. 153 – 164. DOI : 10.1007/3-540-36553-2_14.2002
SWARM-BOT: Pattern Formation in a Swarm of Self-Assembling Mobile Robots
2002. IEEE International Conference on Systems, Man and Cybernetics, Hammamet, Tunisia, October 6-9. p. 145 – 150. DOI : 10.1109/ICSMC.2002.1173259.Evolving Vision-based Flying Robots
2002. 2nd International Workshop on Biologically Motivated Computer Vision (BMCV’2002), Tübingen, November 22 – 24, 2002. p. 592 – 600. DOI : 10.1007/3-540-36181-2_59.Active Vision and Feature Selection in Evolutionary Behavioral Systems
2002. The Seventh International Conference on Simulation of Adaptive Behavior, Edinburgh, UK, 5 – 9 August. p. 247 – .Evolutionary Bits’n’Spikes
2002. 8th International Conference on the Simulation and Synthesis of Living Systems (Alife 8), Sydney, NSW, Australia, 9-13 December.Trends in Evolutionary Robotics
Proceedings of the 2002 Interdisciplinary College; Bremen: Arendtap Publishing, 2002. p. 314 – 333.SWARM Robotics: A Different Approach to Service Robotics
2002. 33rd International Symposium on Robotics (ISR’2002), Stockholm, Sweden, October 7-11. p. 71 – 76.Manuale sulle Reti Neurali
Bologna: Il Mulino, 2002.Levels of Dynamics and Adaptive Behavior in Evolutionary Neural Controllers
2002. 7th International Conference on Simulation on Adaptive Behavior (SAB’2002), Edinburgh, UK, 4 – 9 – 11 August.SWARM-BOT: A Swarm of Autonomous Mobile Robots with Self-Assembling Capabilities
2002. Workshop on Self-Organisation and Evolution of Social Behaviour, Monte Verità, Ascona, Switzerland, September 8-13. p. 11 – 22.From Animals to Animats 7
2002. 7th International Conference on Simulation of Adaptive Behavior.Neural Synthesis of Artificial Organisms through Evolution
Trends in Cognitive Sciences. 2002. Vol. 6, num. 1, p. 31 – 37. DOI : 10.1016/S1364-6613(00)01812-X.Ago Ergo Sum
Consciousness Evolving; Amsterdam: John Benjamins Publishing, 2002. p. 181 – 204.2001
Evolution of Plastic Control Networks
Autonomous Robots. 2001. Vol. 11, num. 3, p. 311 – 317. DOI : 10.1023/A:1012459627968.Co-Evolution and Ontogenetic Change in Competing Robots
Advances in the Evolutionary Synthesis of Intelligent Agents; Cambridge (MA): MIT Press, 2001.Evolution of Adaptive Synapses: Robots with Fast Adaptive Behavior in New Environments
Evolutionary Computation. 2001. Vol. 9, num. 4, p. 495 – 524. DOI : 10.1162/10636560152642887.Evolution of Spiking Neural Controllers for Autonomous Vision-based Robots
Evolutionary Robotics. From Intelligent Robotics to Artificial Life; Berlin: Springer-Verlag, 2001. p. 38 – 61.An Evolutionary Active-Vision System
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