Use of context blocks in genetic programming for evolution of robot morphology

The paper explores application of genetic programming to evolution of robot morphology, and co-evolution of morphology and low-level control. Extensions to standard genetic programming are presented that allow for straight-forward storage, retrieval, transfer, modification of data stored in the context of a syntactic tree, and shared by multiple nodes. These extensions are used to embed a genetic algorithm within the genetic programming approach to evolve values of constants. Experimental results are presented and evaluated.