Evolutionary Robotics

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.

Bio-inspired Tensegrity Soft Modular Robots – Infoscience – link

Dual-stiffness origami drone

2018

J. E. Auerbach; A. Concordel; P. M. Kornatowski; D. Floreano : Inquiry-Based Learning with RoboGen: An Open-Source Software and Hardware Platform for Robotics and Artificial Intelligence; IEEE Transactions on Learning Technologies. 2018. DOI : 10.1109/TLT.2018.2833111.

2017

D. Zappetti; S. Mintchev; J. Shintake; D. Floreano : Bio-inspired Tensegrity Soft Modular Robots. 2017. Living Machines 2017, Palo Alto, California, USA, July 25-28, 2017. p. 497-508.
G. E. Tamo; A. Maesani; S. Träger; M. Degiacomi; D. Floreano et al. : Disentangling constraints using viability evolution principles in integrative modeling of macromolecular assemblies; Scientific Reports. 2017. DOI : 10.1038/s41598-017-00266-w.
P. Ramdya; R. Thandiackal; R. Cherney; T. Asselborn; R. Benton et al. : Climbing favours the tripod gait over alternative faster insect gaits; Nature Communications. 2017. DOI : 10.1038/ncomms14494.

2016

Y. Shim; J. E. Auerbach; P. Husbands : Darwinian Dynamics of Embodied Chaotic Exploration. 2016. GECCO '16, Denver, Colorado, USA, 20-24 07 2016. p. 1053-1056. DOI : 10.1145/2908961.2931673.
J. E. Auerbach; G. Iacca; D. Floreano : Gaining Insight into Quality Diversity. 2016. GECCO '16, Denver, Colorado, USA, 20-24 07 2016. p. 1061-1064. DOI : 10.1145/2908961.2931675.
G. Leclerc; J. E. Auerbach; G. Iacca; D. Floreano : The Seamless Peer and Cloud Evolution Framework. 2016. GECCO '16, Denver, Colorado, USA, 20-24 07 2016. p. 821-828. DOI : 10.1145/2908812.2908886.
A. Maesani; G. Iacca; D. Floreano : Memetic Viability Evolution for Constrained Optimization; IEEE Transactions on Evolutionary Computation. 2016. DOI : 10.1109/TEVC.2015.2428292.

2015

A. Maesani; P. Ramdya; S. Cruchet; K. Gustafson; R. Benton et al. : Fluctuation-driven neural dynamics reproduce Drosophila locomotor patterns; Plos Computational Biology. 2015. DOI : 10.1371/journal.pcbi.1004577.
J. E. Auerbach; G. H. M. Heitz; P. M. Kornatowski; D. Floreano : Rapid Evolution of Robot Gaits. 2015. GECCO '15, Madrid, Spain, July 11-15, 2015. p. 743-744. DOI : 10.1145/2739482.2764894.
P. Ramdya; P. Lichocki; S. Cruchet; L. Frisch; W. Tse et al. : Mechanosensory interactions drive collective behaviour in Drosophila; Nature. 2015. DOI : 10.1038/nature14024.
A. Maesani : Viability evolutionary algorithms and applications to neuroscience and biology. Lausanne, EPFL, 2015. DOI : 10.5075/epfl-thesis-6360.

2014

D. Floreano : Takashi Gomi and the evolution of embodied AI; Adaptive Behavior. 2014. DOI : 10.1177/1059712314553807.
D. Floreano; A. Ijspeert; S. Schaal : Robotics and Neuroscience; Current Biology. 2014. DOI : 10.1016/j.cub.2014.07.058.
J. Auerbach; D. Aydin; A. Maesani; P. Kornatowski; T. Cieslewski et al. : RoboGen: Robot Generation through Artificial Evolution. 2014. Artificial Life 14: International Conference on the Synthesis and Simulation of Living Systems, New York, NY, USA, July 30-August 2, 2014. p. 136-137. DOI : 10.7551/978-0-262-32621-6-ch022.
J. E. Auerbach; C. Fernando; D. Floreano : Online Extreme Evolutionary Learning Machines. 2014. Artificial Life 14: International Conference on the Synthesis and Simulation of Living Systems, New York, NY, USA, July 30-August 2, 2014. p. 465-472. DOI : 10.7551/978-0-262-32621-6-ch076.
J. M. Germann; A. Maesani; R. Pericet Camara; D. Floreano : Soft Cells for Programmable Self-Assembly of Robotic Modules; Soft Robotics. 2014. DOI : 10.1089/soro.2014.0005.
A. Maesani; D. Floreano : Viability Principles for Constrained Optimization Using a (1+1)-CMA-ES. 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.
J. Germann; J. Auerbach; D. Floreano : Programmable Self-assembly with Chained Soft Cells: An Algorithm to Fold into 2-D Shapes. 2014. Simulation of Adaptive Behavior 2014, Castellón, Spain, July 22-26, 2014. p. 220-229. DOI : 10.1007/978-3-319-08864-8_21.
A. Maesani; P. R. Fernando; D. Floreano : Artificial Evolution by Viability Rather Than Competition; PLOS One. 2014. DOI : 10.1371/journal.pone.0086831.
P. Lichocki; D. Floreano; L. Keller : Selection methods regulate evolution of cooperation in digital evolution; Journal of the Royal Society Interface. 2014. DOI : 10.1098/rsif.2013.0743.

2013

J. M. Germann; A. Maesani; M. Stöckli; D. Floreano : 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.
P. Lichocki : Evolution of division of labor in artificial societies. Lausanne, EPFL, 2013. DOI : 10.5075/epfl-thesis-5687.
S. Mitri; S. Wischmann; D. Floreano; L. Keller : Using robots to understand social behavior; Biological Reviews. 2013. DOI : 10.1111/j.1469-185X.2012.00236.x.
P. Lichocki; S. Wischmann; L. Keller; D. Floreano : Evolving team compositions by agent swapping; IEEE Transactions on Evolutionary Computation. 2013. DOI : 10.1109/TEVC.2012.2191292.

2012

P. Lichocki; D. Tarapore; L. Keller; D. Floreano : Limitations of response thresholds models of division of labor. 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.
P. Lichocki; L. Keller; D. Floreano : 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.
P. P. Ramdya; T. Schaffter; D. Floreano; R. Benton : Fluorescence Behavioral Imaging (FBI) tracks identity in heterogeneous groups of Drosophila; PLOS One. 2012. DOI : 10.1371/journal.pone.0048381.
S. Wischmann; D. Floreano; L. Keller : Historical contingency affects signaling strategies and competitive abilities in evolving populations of simulated robots; PNAS. 2012. DOI : 10.1073/pnas.1104267109.
P. Lichocki; D. Tarapore; L. Keller; D. Floreano : Neural networks as mechanisms to regulate division of labor; The American Naturalist. 2012. DOI : 10.1086/664079.

2011

P. Dario; P. Verschure; T. Prescott; G. Sandini; R. Cingolani et al. : Robot Companions for Citizens. 2011. FET'11, Budapest. p. 47-51. DOI : 10.1016/j.procs.2011.12.017.
A. F. Silbering; R. Rytz; Y. Grosjean; L. Abuin; P. Ramdya et al. : Complementary Function and Integrated Wiring of the Evolutionarily Distinct Drosophila Olfactory Subsystems; Journal Of Neuroscience. 2011. DOI : 10.1523/JNEUROSCI.2360-11.2011.
T. Schaffter; D. Marbach; D. Floreano : GeneNetWeaver: In silico benchmark generation and performance profiling of network inference methods; Bioinformatics. 2011. DOI : 10.1093/bioinformatics/btr373.
M. Waibel; D. Floreano; L. Keller : A Quantitative Test of Hamilton's Rule for the Evolution of Altruism; PLOS Biology. 2011. DOI : 10.1371/journal.pbio.1000615.
D. Kunz-Westerhoff; M. Atallah; M. Atallah; J.-C. Zufferey : De l'évolution artificielle à l'homme-machine : la science en proie à la fiction. 2011. L'homme-machine et ses avatars, entre science, philosophie et littérature, Lausanne, Switzerland, May 22-23, 2008.
C. Mattiussi; P. Dürr; D. Marbach; D. Floreano : Beyond Graphs: A New Synthesis; Journal of Computational Science. 2011. DOI : 10.1016/j.jocs.2011.01.007.
P. Dürr : Genetic Representation of Adaptive Neural Controllers. Lausanne, EPFL, 2011. DOI : 10.5075/epfl-thesis-4941.
S. Mitri; D. Floreano; L. Keller : Relatedness influences signal reliability in evolving robots; Proceedings of the Royal Society B. 2011. DOI : 10.1098/rspb.2010.1407.
P. Lichocki; P. Kahn Jr; A. Billard : The Ethical Landscape of Robotics; IEEE Robotics and Automation Magazine. 2011. DOI : 10.1109/MRA.2011.940275.

2010

P. Ramdya; R. Benton : Evolving olfactory systems on the fly; Trends In Genetics. 2010. DOI : 10.1016/j.tig.2010.04.004.
D. Floreano; J.-C. Zufferey : Insect Vision: A Few Tricks to Regulate Flight Altitude; Current Biology. 2010. DOI : 10.1016/j.cub.2010.08.022.
S. Hauert : Evolutionary Synthesis of Communication-Based Aerial Swarms. Lausanne, EPFL, 2010. DOI : 10.5075/epfl-thesis-4900.
P. Dürr; C. Mattiussi; D. Floreano : Genetic representation and evolvability of modular neural controllers; IEEE Computational Intelligence Magazine. 2010. DOI : 10.1109/MCI.2010.937319.
D. Marbach; R. J. Prill; T. Schaffter; C. Mattiussi; D. Floreano et al. : Revealing strengths and weaknesses of methods for gene network inference; PNAS. 2010. DOI : 10.1073/pnas.0913357107.
D. Floreano; L. Keller : Evolution of Adaptive Behaviour in Robots by Means of Darwinian Selection; PLOS Biology. 2010. DOI : 10.1371/journal.pbio.1000292.
T. Schaffter : Numerical Integration of SDEs: A Short Tutorial. 2010.
D. Tarapore; D. Floreano; L. Keller : Task-dependent influence of genetic architecture and mating frequency on division of labour in social insect societies; Behavioral Ecology and Sociobiology. 2010. DOI : 10.1007/s00265-009-0885-4.

2009

T. Schaffter; D. Marbach : Stochastic Simulations for DREAM4. 2009.
P. Lichocki; K. Krawiec; W. Jaskowski : Evolving Teams of Cooperating Agents for Real-Time Strategy Game. 2009. 1st European Workshop on Bio-inspired Algorithms in Games (EvoGAMES-2009), Tübingen, Germany, April 15-17, 2009. p. 333-342. DOI : 10.1007/978-3-642-01129-0_37.
K. Krawiec; P. Lichocki : Approximating geometric crossover in semantic space. 2009. 11th Annual conference on Genetic and evolutionary computation (GECCO-2009), Montreal, Québec, Canada, July 8-12, 2009. p. 987-994. DOI : 10.1145/1569901.1570036.
S. Frintrop; A. Nüchter; K. Pevölz; H. Surmann; S. Mitri et al. : Attentive Classification; International Journal of Applied Artifical Intelligence in Engineering System. 2009.
S. Mitri : The evolution of communication in robot societies. Lausanne, EPFL, 2009. DOI : 10.5075/epfl-thesis-4551.
D. Marbach : Evolutionary reverse engineering of gene networks. Lausanne, EPFL, 2009. DOI : 10.5075/epfl-thesis-4503.
F. Garcin; M. H. Manshaei; J.-P. Hubaux : Cooperation in Underwater Sensor Networks. 2009. International Conference on Game Theory for Networks, Istanbul, TURKEY, May 13-15, 2009. p. 540-548.
S. Wischmann : Do animat models always need a biological target organism?; Adaptive Behavior. 2009. DOI : 10.1177/1059712309340861.
S. Mitri; D. Floreano; L. Keller : The Evolution of Information Suppression in Communicating Robots with Conflicting Interests; PNAS. 2009. DOI : 10.1073/pnas.0903152106.
J. F. Roberts; T. S. Stirling; J.-C. Zufferey; D. Floreano : 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.
A. Soltoggio; B. Jones : Novelty of Behaviour as a Basis for the Neuro-evolution of Operant Reward Learning. 2009. Genetic and Evolutionary Computation Conference (GECCO 2009), Montréal Québec,Canada, July 8-12, 2009.
F. Mondada; M. Bonani; X. Raemy; J. Pugh; C. Cianci et al. : The e-puck, a Robot Designed for Education in Engineering. 2009. 9th Conference on Autonomous Robot Systems and Competitions, Castelo Branco, Portugal, May 7, 2009. p. 59-65.
L. Keller; D. Floreano : 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.
S. Hauert; J.-C. Zufferey; D. Floreano : 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.
P. Dürr; W. Karlen; J. Guignard; C. Mattiussi; D. Floreano : Evolutionary Selection of Features for Neural Sleep/Wake Discrimination; Journal of Artificial Evolution and Applications. 2009. DOI : 10.1155/2009/179680.
D. Marbach; C. Mattiussi; D. Floreano : Combining Multiple Results of a Reverse Engineering Algorithm: Application to the DREAM Five Gene Network Challenge; Annals of the New York Academy of Sciences. 2009. DOI : 10.1111/j.1749-6632.2008.03945.x.
S. Hauert; J.-C. Zufferey; D. Floreano : Evolved swarming without positioning information: an application in aerial communication relay; Autonomous Robots. 2009. DOI : 10.1007/s10514-008-9104-9.
D. Marbach; C. Mattiussi; D. Floreano : Replaying the Evolutionary Tape: Biomimetic Reverse Engineering of Gene Networks; Annals of the New York Academy of Sciences. 2009. DOI : 10.1111/j.1749-6632.2008.03944.x.
M. Waibel; L. Keller; D. Floreano : Genetic Team Composition and Level of Selection in the Evolution of Cooperation; IEEE Transactions on Evolutionary Computation. 2009. DOI : 10.1109/TEVC.2008.2011741.

2008

A. Soltoggio : Evolutionary and Computational Advantages of Neuromodulated Plasticity. University of Birmingham, UK, 2008.
S. Mitri; J. Hubert; M. Waibel : Social Behavior: From Cooperation to Language; Biological Theory. 2008. DOI : 10.1162/biot.2008.3.2.99.
P. Dürr; C. Mattiussi; A. Soltoggio; D. Floreano : 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.
A. Soltoggio; J. A. Bullinaria; C. Mattiussi; P. Dürr; D. Floreano : Evolutionary Advantages of Neuromodulated Plasticity in Dynamic, Reward- based Scenarios. 2008. Artificial Life XI, Winchester UK, 5-8 August 2008. p. 569--576.
C. Mattiussi; D. Marbach; P. Dürr; D. Floreano : The Age of Analog Networks; AI Magazine. 2008.
D. Floreano; P. Dürr; C. Mattiussi : Neuroevolution: from architectures to learning; Evolutionary Intelligence. 2008. DOI : 10.1007/s12065-007-0002-4.
M. Suzuki; D. Floreano : Enactive Robot Vision; Adaptive Behavior. 2008. DOI : 10.1177/1059712308089183.

2007

M. Suzuki : Enactive robot vision. Lausanne, EPFL, 2007. DOI : 10.5075/epfl-thesis-3974.
D. Floreano; S. Hauert; S. Leven; J.-C. Zufferey : Evolutionary Swarms of Flying Robots. 2007. International Symposium on Flying Insects and Robots, Monte Verità, Switzerland, Monte Verità, Locarno, Switzerland, August 12-17.
M. Waibel : Evolution of cooperation in artificial ants. Lausanne, EPFL, 2007. DOI : 10.5075/epfl-thesis-3943.
C. Mattiussi; D. Floreano ; Method and device for the genetic representation and evolution of networks. US20070011111 ; US7370019 . 2007.
A. Soltoggio; P. Dürr; C. Mattiussi; D. Floreano : Evolving Neuromodulatory Topologies for Reinforcement Learning-like Problems. 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.
D. Roggen; D. Federici; D. Floreano : Evolutionary morphogenesis for multi-cellular systems; Genetic Programming and Evolvable Machines. 2007. DOI : 10.1007/s10710-006-9019-1.
C. Mattiussi; P. Dürr; D. Floreano : Center of Mass Encoding: A self-adaptive representation with adjustable redundancy for real-valued parameters. 2007. GECCO 2007, University College, London, 2007. p. 1304--1311.
D. Floreano; S. Mitri; S. Magnenat; L. Keller : Evolutionary Conditions for the Emergence of Communication in Robots; Current Biology. 2007. DOI : 10.1016/j.cub.2007.01.058.
D. Marbach; C. Mattiussi; D. Floreano : 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.
C. Mattiussi; D. Floreano : Analog Genetic Encoding for the Evolution of Circuits and Networks; IEEE Transactions on Evolutionary Computation. 2007. DOI : 10.1109/TEVC.2006.886801.

2006

M. Suzuki; D. Floreano : Trends in Dynamic and Embodied Cognition; International Neural Network Society Newsletter. 2006.
S. Mitri; P. Vogt : Co-evolution of Language and Behaviour in Autonomous Robots. 2006. The sixth international conference on the Evolution of Language (Evolang6), World Scientific, Rome, Italy, April, 2006. p. 428-429.
J.-C. Zufferey; A. Guanella; A. Beyeler; D. Floreano : Flying over the Reality Gap: From Simulated to Real Indoor Airships; Autonomous Robots. 2006.
P. Dürr; C. Mattiussi; D. Floreano : Neuroevolution with Analog Genetic Encoding. 2006. Parallel Problem Solving from Nature - PPSN iX, Reykjavik, Iceland, 9-13 September 2006. p. 671--680.
M. Suzuki; D. Floreano : 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.
D. Tarapore; D. Floreano; L. Keller : 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.
D. Tarapore; M. Lungarella; G. Gomez : Quantifying patterns of agent-environment interaction; Robotics and Autonomous Systems. 2006. DOI : 10.1016/j.robot.2005.09.024.
M. Waibel; D. Floreano; S. Magnenat; L. Keller : 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. DOI : 10.1098/rspb.2006.3513.
D. Floreano; M. Suzuki : 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--11.
M. Suzuki; D. Floreano : 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--273. DOI : 10.1007/11840541_22.
M. Suzuki; J. van der Blij; D. Floreano : Omnidirectional Active Vision for Evolutionary Car Driving. 2006. The Ninth International Conference on Intelligent Autonomous Systems, Tokyo, Japan, 7-9 March 2006. p. 153--161.
M. Suzuki; K. Noda; Y. Suga; T. Ogata; S. Sugano : Dynamic Perception after Visually Guided Grasping by a Human-Like Autonomous Robot; Advanced Robotics. 2006.
D. Floreano; Y. Epars; J.-C. Zufferey; C. Mattiussi : Evolution of Spiking Neural Circuits in Autonomous Mobile Robots; International Journal of Intelligent Systems. 2006.

2005

F. Mondada; M. Bonani; A. Guignard; S. Magnenat; C. Studer et al. : Superlinear Physical Performances in a SWARM-BOT. 2005. 8th European Conference on Artificial Life (ECAL'2005), Canterbury, Kent (UK), 5-9 September. p. 282-291.
S. Mitri; S. Frintrop; K. Pervölz; H. Surmann; A. Nüchter : Robust Object Detection at Regions of Interest with an Application in Ball Recognition. 2005. IEEE 2005 International Conference Robotics and Automation (ICRA '05), Barcelona, Spain, April 2005. p. 126-131.
G. Gomez; M. Lungarella; D. Tarapore : Information-theoretic approach to embodied category learning. 2005. The Tenth International Conference on Artificial Life and Robotics, Oita,Japan, Feb 4 - Feb 6, 2005. p. 332-337.
B. von Haller; A. Ijspeert; D. Floreano : 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.
M. Suzuki; D. Floreano; E. A. Di Paolo : The Contribution of Active Body Movement to Visual Development in Evolutionary Robots; Neural Networks. 2005. DOI : 10.1016/j.neunet.2005.06.043.
D. Floreano; J.-C. Zufferey; J.-D. Nicoud : From Wheels to Wings with Evolutionary Spiking Neurons; Artificial Life. 2005. DOI : 10.1162/1064546053278900.
F. Mondada; L. Gambardella; D. Floreano; M. Dorigo : The cooperation of swarm-bots: physical interactions in collective robotics; Robotics & Automation Magazine. 2005.
D. Floreano; M. Suzuki; C. Mattiussi : Active Vision and Receptive Field Development in Evolutionary Robots; Evolutionary Computation. 2005. DOI : 10.1162/106365605774666912.
M. Suzuki; D. Floreano; E. A. Di Paolo : 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--2783.
C. Mattiussi : Evolutionary synthesis of analog networks. Lausanne, EPFL, 2005. DOI : 10.5075/epfl-thesis-3199.
D. Roggen : Multi-cellular reconfigurable circuits. Lausanne, EPFL, 2005. DOI : 10.5075/epfl-thesis-3198.

2004

A. M. Abdelbar; S. Ragab; S. Mitri : Co-Evolutionary Particle Swarm Optimization Applied to the 7x7 Seega Game. 2004. International Joint Conference on Neural Networks (IJCNN), Budapest, Hungary, July, 2004.
S. Mitri; K. Pervölz; H. Surmann; A. Nüchter : Fast Color-Independent Ball Detection for Mobile Robots. 2004. IEEE International Conference Mechatronics and Robotics 2004 (MechRob '04), Aachen, Germany, September 2004. p. 900-905.
F. Mondada; G. C. Pettinaro; A. Guignard; I. Kwee; D. Floreano et al. : SWARM-BOT: a New Distributed Robotic Concept; Autonomous Robots, special Issue on Swarm Robotics. 2004.
D. Floreano; F. Mondada; A. Perez-Uribe; D. Roggen : Machine Self-Evolution; YLEM journal. 2004.
F. Mondada; M. Bonani; S. Magnenat; A. Guignard; D. Floreano et al. : Physical connections and cooperation in swarm robotics. 2004. 8th Conference on Intelligent Autonomous Systems (IAS8), Amsterdam, NL, March 10-14. p. 53-60.
M. Dorigo; V. Trianni; E. Sahin; R. Groß; T. H. Labella et al. : Evolving Self-Organizing Behaviors for a Swarm-bot; Autonomous Robots, special Issue on Swarm Robotics. 2004. DOI : 10.1023/B:AURO.0000033972.50769.1c.
C. Mattiussi; D. Floreano : 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.
C. Mattiussi; D. Floreano : Connecting Transistors and Proteins. 2004. 9th International Conference on Artificial Life (Alife9), Boston (MA). p. 9-14.
D. Roggen; Y. Thoma; E. Sanchez : An Evolving and Developing Cellular Electronic Circuit. 2004. 9th International Conference on Artificial Life (Alife9), Boston (MA),. p. 33-38.
Y. Thoma; D. Roggen; E. Sanchez; J. Moreno : Prototyping with a bio-inspired reconfigurable chip. 2004. 15th IEEE International Workshop on Rapid System Prototyping (RSP'2004). p. 239-246.
D. Floreano; T. Kato; D. Marocco; E. Sauser : Coevolution of active vision and feature selection; Biological Cybernetics. 2004. DOI : 10.1007/s00422-004-0467-5.
D. Roggen; D. Federici : Multi-cellular development: is there scalability and robustness to gain?. 2004. Parallel Problem Solving from Nature 8 (PPSN'2004), Birmingham (UK), Birmingham, UK. p. 391-400.
A. Koopman; D. Roggen : Evolving Genetic Regulatory Networks for Hardware Fault Tolerance. 2004. Parallel Problem Solving from Nature 8 (PPSN'04), Birmingham (UK), 18-22 September. p. 561-570.
M. Dorigo; E. Tuci; R. Groß; V. Trianni; T. H. Labella et al. : The SWARM-BOTS project. 2004. Swarm Robotics (SAB'2004), Santa Monica, CA, USA, July 17. p. 31-44.
C. Mattiussi; M. Waibel; D. Floreano : Measures of Diversity for Populations and Distances Between Individuals with Highly Reorganizable Genomes; Evolutionary Computation. 2004. DOI : 10.1162/1063656043138923.
D. Roggen; D. Floreano : Hardware morphogenetic developmental system. 2004.
M. Waibel : Review of "Ant Colony Optimization" by Marco Dorigo and Thomas Stützle; Myrmecologische Nachrichten. 2004.

2003

C. Mattiussi; D. Floreano : Viability Evolution: Elimination and Extinction in Evolutionary Computation. 2003.
S. Nolfi; J.-L. Deneubourg; D. Floreano; L. M. Gambardella; F. Mondada et al. : Swarm-Bots: Swarm of Mobile Robots able to Self-Assemble and Self-Organize; Ercim News. 2003.
A. M. Abdelbar; S. Ragab; S. Mitri : Applying Co-Evolutionary Particle Swam Optimization to the Egyptian Board Game Seega. 2003. The First Asian-Pacific Workshop on Genetic Programming, Canberra, Australia, December, 2003. p. 9-15.
D. Floreano; J.-C. Zufferey; C. Mattiussi : 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.
D. Roggen; D. Floreano; C. Mattiussi : 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.
J. Blynel : Evolving Reinforcement Learning-Like Abilities for Robots. 2003. 5th International Conference on Evolvable Systems (ICES'03), Trondheim, Norway, 17-20 March. p. 320-331. DOI : 10.1007/3-540-36553-2_29.
J. Blynel; D. Floreano : 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.
A. Tyrrell; E. Sanchez; D. Floreano; G. Tempesti; D. Mange et al. : POEtic Tissue: An Integrated Architecture for Bio-inspired Hardware. 2003. 5th International Conference, ICES 2003, Trondheim, Norway, March 17–20, 2003. p. 129-140.
D. Roggen; S. Hofmann; Y. Thoma; D. Floreano : 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.
A. Perez-Uribe; D. Floreano; L. Keller : 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.
G. Tempesti; D. Roggen; E. Sanchez; Y. Thoma; R. Canham et al. : Ontogenetic Development and Fault Tolerance in the POEtic Tissue. 2003. 5th International Conference, ICES 2003, Trondheim, Norway, March 17–20, 2003. p. 141-152. DOI : 10.1007/3-540-36553-2_13.
J.-C. Zufferey; A. Beyeler; D. Floreano : Vision-based Navigation from Wheels to Wings. 2003. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2003). p. 2968-2973.
F. Mondada; A. Guignard; M. Bonani; D. Bär; M. Lauria et al. : SWARM-BOT: From Concept to Implementation. 2003. International Conference on Intelligent Robots and Systems (IROS'2003). p. 1626-1631.
D. Floreano : Complex Visual Behavior with Simple Brains: Co-evolutionary Active Vision and Feature Selection. 2003. European Cognitive Science Conference, Osnabrück, Germany, 10-13 September.
K. Noda; M. Suzuki; N. Tsuchiya; Y. Suga; T. Ogata et al. : Robust Modeling of Dynamic Environment Based on Robot Embodiment. 2003. IEEE International Conference on Robotics and Automation (ICRA'2003), Taipei, Taiwan, 14-19 September 2003. p. 3565-3570.

2002

D. Floreano ; Spiking Neural Network Device. US60 . 2002.
J.-C. Zufferey; D. Floreano; M. van Leeuwen; T. Merenda : Evolving Vision-based Flying Robots. 2002. 2nd International Workshop on Biologically Motivated Computer Vision (BMCV'2002), Tübingen, November 22 - 24. p. 592-600.
J.-D. Nicoud; J.-C. Zufferey : Toward Indoor Flying Robots. 2002. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'2002), Lausanne, Switzerland, September 30 - October 4. p. 787-792.
J. Blynel; D. Floreano : 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.
D. Marocco; D. Floreano : 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--255.
D. Floreano; N. Schoeni; G. Caprari; J. Blynel : Evolutionary Bits'n'Spikes. 2002. 8th International Conference on the Simulation and Synthesis of Living Systems (Alife 8), Sydney, NSW, Australia, 9-13 December.
B. Mesot; E. Sanchez; C. Pena; A. Perez-Uribe : SOS++: Finding Smart Behaviors Using Learning and Evolution. 2002. 8th International Conference on the Simulation and Synthesis of Living Systems (Alife 8), Sydney, NSW, Australia, 9-13 December. p. 264-273.
G. Tempesti; D. Roggen; E. Sanchez; Y. Thoma : A POEtic Architecture for Bio-Inspired Hardware. 2002. 8th International Conference on the Simulation and Synthesis of Living Systems (Alife 8), Sydney, NSW, Australia, 9-13 December. p. 111-115.
C. Mattiussi : Review of: "Digital Biology: The Creation of Life Inside Computers and How It Will Affect Us" by Peter J. Bentley; Artificial Life. 2002.
G. C. Pettinaro; I. Kwee; L. Gambardella; F. Mondada; D. Floreano et al. : SWARM Robotics: A Different Approach to Service Robotics. 2002. 33rd International Symposium on Robotics (ISR'2002), Stockholm, Sweden, October 7-11. p. 71-76.
F. Mondada; G. C. Pettinaro; I. Kwee; A. Guignard; D. Floreano et al. : 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.
E. Sahin; T. Labella; V. Trianni; J.-L. Deneubourg; P. Rasse et al. : 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.
S. Nolfi; D. Floreano : Neural Synthesis of Artificial Organisms through Evolution; Trends in Cognitive Sciences. 2002. DOI : 10.1016/S1364-6613(00)01812-X.

2001

J. Urzelai; D. Floreano : Evolution of Adaptive Synapses: Robots with Fast Adaptive Behavior in New Environments; Evolutionary Computation. 2001. DOI : 10.1162/10636560152642887.
C. De Lillo; D. Floreano; F. Antinucci : Transitive choices by a simple, fully connected, backpropagation neural network: implications for the comparative study of transitive inference; Animal Cognition. 2001.
D. Floreano; J. Urzelai : Neural Morphogenesis, Synaptic Plasticity, and Evolution; Theory in Biosciences. 2001. DOI : 10.1078/1431-7613-00042.
D. Floreano; J. Urzelai : Evolution of Plastic Control Networks; Autonomous Robots. 2001. DOI : 10.1023/A:1012459627968.
T. Kato; D. Floreano : An Evolutionary Active-Vision System. 2001. The 2001 Congress on Evolutionary Computation, Seoul, South Korea, 05/27/2001 - 05/30/2001. p. 107--114.

2000

S. Nolfi; D. Floreano : Evolutionary robotics: developing robots through artificial evolution; ERCIM News. 2000.
J. Urzelai; D. Floreano : Evolutionary Robotics: Coping with Environmental Change. 2000. Genetic and Evolutionary Computation Conference (GECCO'2000), Las Vegas, Nevada, USA, July 8 - 12.
J. Urzelai; D. Floreano : Evolutionary Robots with Fast Adaptive Behavior in New Environments. 2000. 3rd International Conference on Evolvable Systems (ICES'2000).
D. Floreano; J. Urzelai : Artificial Evolution of Robust Adaptive Software: An Application to Autonomous Robots. 2000. 3rd International Conference on Human and Computer (HC'2000), Aizu, Japan.
D. Floreano; J. Urzelai : Evolutionary Robots with on-line self-organization and behavioral fitness; Neural Networks. 2000. DOI : 10.1016/S0893-6080(00)00032-0.
D. Floreano; J. Urzelai : Artificial Evolution of Adaptive Software: An Application to Autonomous Robots; 3D The Journal of Three dimensional images (in japanese). 2000.
D. Floreano; J. Urzelai : Evolutionary On-Line Self-Organization of Autonomous Robots. 2000. 5th International Conference on Artificial Life and Robotics(AROB'2000), Oita University, Japan.

1999

A. Arleo; J. d. R. Millán; D. Floreano : Learning of Variable-Resolution Cognitive maps for Autonomous Indoor Navigation; IEEE Transactions on Robotics and Automation. 1999. DOI : 10.1109/70.817664.
S. Nolfi; D. Floreano : Learning and Evolution; Autonomous Robots. 1999. DOI : 10.1023/A:1008973931182.
D. Floreano; J. Urzelai : Evolution of Adaptive-Synapse Controllers. 1999. 5th European Conference on Artificial Life (ECAL'1999), EPFL, Lausanne, Switzerland, 13-17 September.
J. Urzelai; D. Floreano : Incremental Evolution with Minimal Resources. 1999. First International Khepera Workshop (IKW'1999).

1998

S. Nolfi; D. Floreano : Co-evolving predator and prey robots: Do 'arm races' arise in artificial evolution?; Artificial Life. 1998. DOI : 10.1162/106454698568620.
D. Floreano; F. Mondada : Evolutionary Neurocontrollers for Autonomous Mobile Robots; Neural Networks. 1998. DOI : 10.1016/S0893-6080(98)00082-3.
J. Urzelai; D. Floreano; M. Dorigo; M. Colombetti : Incremental Robot Shaping; Connection Science. 1998.
J. Kay; D. Floreano; W. Phillips : Contextually Guided Unsupervised Learning Using Local Multivariate Binary Processors; Neural Networks. 1998. DOI : 10.1016/S0893-6080(97)00110-X.
J. Urzelai; D. Floreano; M. Dorigo; M. Colombetti : Incremental Robot Shaping. 1998. 3rd International Conference on Genetic Programming.
D. Floreano; S. Nolfi; F. Mondada : Competitive Co-Evolutionary Robotics: From Theory to Practice. 1998. 5th International Conference on Simulation of Adaptive Behavior (SAB'1998), Zurich, Switzerland, August 17-21. p. 515-524.
D. Floreano; F. Mondada : Hardware Solutions for Evolutionary Robotics. 1998. First European Workshop on Evolutionary Robotics (EVOROBOT'1998), Berlin. p. 137-151.
S. Nolfi; D. Floreano : How co-evolution can enhance the adaptation power of artificial evolution: Implications for evolutionary robotics. 1998. First European Workshop on Evolutionary Robotics (EVOROBOT'1998).

1997

D. Floreano; S. Nolfi : Adaptive Behavior in Competitive Co-Evolutionary Robotics. 1997. 4th European Conference on Artificial Life (ECAL'1997).
D. Floreano; S. Nolfi : God Save the Red Queen! Competition in Co-Evolutionary Robotics. 1997. 2nd Conference on Genetic Programming.

1996

D. Floreano; F. Mondada : Evolution of Homing Navigation in a Real Mobile Robot; IEEE Transactions on Systems, Man and Cybernetics Part B : Cybernetics. 1996.
D. Floreano; F. Mondada : Evolution of Plastic Neurocontrollers for Situated Agents. 1996. 4th International Conference on Simulation of Adaptive Behavior (SAB'1996), Cape Cod, Massachusetts, September 9-13. p. 402-410.
D. Floreano : Evolutionary Re-Adaptation of Neurocontrollers in Changing Environments. 1996. Intelligent Technologies.
D. Floreano : Extraction of Coherent Information from Non-Overlapping Receptive Fields. 1996. International Conference on Artificial Neural Networks (ICANN'1996), Bochum, germany, July 16-19, July 16-19.
D. Floreano; F. Mondada : Evolving fast-learning neural controllers for a mobile robot. 1996. 24th Conference of Neurobiology, Goettingen.

1995

D. Floreano; W. Phillips; J. Kay : A computational theory of learning visual features via contextual guidance; Perception. 1995.

1994

D. Floreano; F. Mondada : Active Perception, Navigation, Homing, and Grasping: An autonomous Perspective. 1994. From Perception to Action Conference (PERAC'1994).
S. Nolfi; D. Floreano; O. Miglino; F. Mondada : How to Evolve Autonomous Robots: Different Approaches in Evolutionary Robotics. 1994. 4th International Workshop on Artificial Life, Cambridge. p. 190-197.
D. Floreano; F. Mondada : Automatic Creation of an Autonomous Agent: Genetic Evolution of a Neural Network Driven Robot. 1994. 3rd International Conference on Simulation of Adaptive Behavior (SAB'1994), Brighton, England, August 8-12. p. 421-430.

1993

D. Floreano; D. Parisi; F. Antinucci; F. Natale : Eye tracking with a recurrent neural network; Cognitive Systems. 1993.
D. Floreano : Anticipatory Tracking of a Moving Object. 1993. Artificial and Natural Visual Systems.
D. Floreano : Patterns of Interactions in Shared Environments. 1993. 2nd European Conference of Artificial Life (ECAL'1993).
D. Floreano : Emergence of Nest-Based Foraging Strategies in Ecosystems of Neural Networks. 1993. Second International Conference on Simulation of Adaptive Behavior (SAB'1992).

1992

D. Floreano; D. Parisi : Internal Prediction and Environment Models: An application to the development of language. 1992.
D. Parisi; D. Floreano : Prediction and Imitation of Linguistic Sounds by Neural Networks. 1992. First Workshop on Neural Networks and Speech Processing.

1991

D. Floreano; L. Zang; W. Gerbino : Symmetry Detection with a Neural Network. 1991.
D. Floreano; O. Miglino; D. Parisi : Emergent complex behaviours in ecosystems of neural networks. 1991. Parallel Architectures and Neural Networks.