Research Output

Idiotypic networks for evolutionary controllers in virtual creatures.

  We propose a novel method for evolving adaptive locomotive strategies for virtual limbless creatures that addresses both functional and non-functional requirements, respectively the ability to avoid obstacles and to minimise spent energy. We describe an approach inspired by artificial immune systems, based on a dual-layer idiotypic network that results in a completely decentralised controller. Starting from a system initialised with five non-adaptive locomotion strategies, we show that an adaptive controller can evolve that both min- imises energy requirements and maximises distance covered when compared to the initial strategies.

  • Date:

    01 January 2014

  • Publication Status:


  • Publisher

    MIT Press

  • DOI:


  • Library of Congress:

    QA75 Electronic computers. Computer science

  • Dewey Decimal Classification:

    006.3 Artificial intelligence


Capodieci, N., Hart, E. & Cabri, G. (2013). Idiotypic networks for evolutionary controllers in virtual creatures. In Sayama, H., Rieffel, J., Risi, S., Doursat, R. & Lipson, H. (Eds.). Artificial Life 14: Proceedings of ALife, 14th International Conference on the Synthesis and Simulation of Living Systems, 192-199. doi:10.7551/978-0-262-32621-6-ch032



Dual-layer idiotypic network; adaptive controller; locomotive strategies; virtual limbless creatures;

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