Figure 4
The genome of an agent with an evolved symbolic communication scheme is embodied in two e-puck robots.
Agents are supplied with their position information via an overhead webcam and colour detection software. Evolved agents are run on a laptop (not shown) that handles communication between agents and sends instructions to the robots via Bluetooth. Two hardware experiments are shown, with images taken at 5 second intervals shown in the first row, and the corresponding inter-robot communication data shown underneath. Auditory interpretations of ωout values are provided in Supplementary Audio S3–S4.
