Artificial morphogenesis for arbitrary shape generation of swarms of multi agents

This paper describes evolutionary morphogenesis to construct an arbitrary structure by swarms of multi-agents which are simple, independent, autonomous modular agents (robots) that can build two-dimensional structures by means of developmental methods. These structures can be exactly matched with arbitrary shape user defined. Agents dose not require any explicit and centralized control, instead using morphological information, which consists of genomes to coordinate their activities. This article describes a very simple genetic encoding and developmental system designed for self-organization of multicellular agents. The morphogenetic evolution system is inspired by gene expression (genetic encoding) and cellular differentiation. Computer simulations shows that the method can generate any arbitrary shape.