{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,18]],"date-time":"2025-12-18T19:57:06Z","timestamp":1766087826979,"version":"3.37.3"},"reference-count":59,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2022,1,20]],"date-time":"2022-01-20T00:00:00Z","timestamp":1642636800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2022,1,20]],"date-time":"2022-01-20T00:00:00Z","timestamp":1642636800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"funder":[{"DOI":"10.13039\/501100000781","name":"european research council","doi-asserted-by":"publisher","award":["681872"],"award-info":[{"award-number":["681872"]}],"id":[{"id":"10.13039\/501100000781","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002661","name":"fonds de la recherche scientifique - fnrs","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100002661","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002910","name":"f\u00e9d\u00e9ration wallonie-bruxelles","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100002910","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100002661","name":"fonds de la recherche scientifique - fnrs","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100002661","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["SN COMPUT. SCI."],"published-print":{"date-parts":[[2022,3]]},"DOI":"10.1007\/s42979-021-00988-9","type":"journal-article","created":{"date-parts":[[2022,1,20]],"date-time":"2022-01-20T14:05:59Z","timestamp":1642687559000},"update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["AutoMoDe-Cedrata: Automatic Design of Behavior Trees for Controlling a Swarm of Robots with Communication Capabilities"],"prefix":"10.1007","volume":"3","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2391-2275","authenticated-orcid":false,"given":"Jonas","family":"Kuckling","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2880-6650","authenticated-orcid":false,"given":"Vincent","family":"van Pelt","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3309-2194","authenticated-orcid":false,"given":"Mauro","family":"Birattari","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2022,1,20]]},"reference":[{"issue":"6198","key":"988_CR1","doi-asserted-by":"publisher","first-page":"795","DOI":"10.1126\/science.1254295","volume":"345","author":"M Rubenstein","year":"2014","unstructured":"Rubenstein M, Cornejo A, Nagpal R. Programmable self-assembly in a thousand-robot swarm. Science. 2014;345(6198):795\u20139. https:\/\/doi.org\/10.1126\/science.1254295.","journal-title":"Science"},{"issue":"6172","key":"988_CR2","doi-asserted-by":"publisher","first-page":"754","DOI":"10.1126\/science.1245842","volume":"343","author":"J Werfel","year":"2014","unstructured":"Werfel J, Petersen K, Nagpal R. Designing collective behavior in a termite-inspired robot construction team. Science. 2014;343(6172):754\u20138. https:\/\/doi.org\/10.1126\/science.1245842.","journal-title":"Science"},{"issue":"14","key":"988_CR3","doi-asserted-by":"publisher","first-page":"eaar7650","DOI":"10.1126\/scirobotics.aar7650","volume":"3","author":"GZ Yang","year":"2018","unstructured":"Yang GZ, Bellingham J, Dupont PE, Fischer P, Floridi L, Full R, Jacobstein N, Kumar V, McNutt M, Merrifield R, Nelson BJ, Scassellati B, Taddeo M, Taylor R, Veloso M, Wang ZL, Wood R. The grand challenges of science robotics. Sci Robot. 2018;3(14):eaar7650. https:\/\/doi.org\/10.1126\/scirobotics.aar7650.","journal-title":"Sci Robot"},{"issue":"20","key":"988_CR4","doi-asserted-by":"publisher","first-page":"eaat0430","DOI":"10.1126\/scirobotics.aat0430","volume":"3","author":"L Garattoni","year":"2018","unstructured":"Garattoni L, Birattari M. Autonomous task sequencing in a robot swarm. Sci Robot. 2018;3(20):eaat0430. https:\/\/doi.org\/10.1126\/scirobotics.aat0430.","journal-title":"Sci Robot"},{"issue":"25","key":"988_CR5","doi-asserted-by":"publisher","first-page":"eaau9178","DOI":"10.1126\/scirobotics.aau9178","volume":"3","author":"I Slavkov","year":"2018","unstructured":"Slavkov I, Carrillo-Zapata D, Carranza N, Diego X, Jansson F, Kaandorp J, Hauert S, Sharpe J. Morphogenesis in robot swarms. Sci Robot. 2018;3(25):eaau9178. https:\/\/doi.org\/10.1126\/scirobotics.aau9178.","journal-title":"Sci Robot"},{"issue":"1","key":"988_CR6","doi-asserted-by":"publisher","first-page":"3260","DOI":"10.1038\/s41467-018-05749-6","volume":"9","author":"J Yu","year":"2018","unstructured":"Yu J, Wang B, Du X, Wang Q, Zhang L. Ultra-extensible ribbon-like magnetic microswarm. Nat Commun. 2018;9(1):3260. https:\/\/doi.org\/10.1038\/s41467-018-05749-6.","journal-title":"Nat Commun"},{"issue":"7748","key":"988_CR7","doi-asserted-by":"publisher","first-page":"361","DOI":"10.1038\/s41586-019-1022-9","volume":"567","author":"S Li","year":"2019","unstructured":"Li S, Batra R, Brown D, Chang HD, Ranganathan N, Hoberman C, Rus D, Lipson H. Particle robotics based on statistical mechanics of loosely coupled components. Nature. 2019;567(7748):361\u20135. https:\/\/doi.org\/10.1038\/s41586-019-1022-9.","journal-title":"Nature"},{"issue":"28","key":"988_CR8","doi-asserted-by":"publisher","first-page":"eaav8006","DOI":"10.1126\/scirobotics.aav8006","volume":"4","author":"H Xie","year":"2019","unstructured":"Xie H, Sun M, Fan X, Lin Z, Chen W, Wang L, Dong L, He Q. Reconfigurable magnetic microrobot swarm: multimode transformation, locomotion, and manipulation. Sci Robot. 2019;4(28):eaav8006. https:\/\/doi.org\/10.1126\/scirobotics.aav8006.","journal-title":"Sci Robot"},{"key":"988_CR9","doi-asserted-by":"publisher","first-page":"eabe4385","DOI":"10.1126\/scirobotics.abe4385","volume":"5","author":"M Dorigo","year":"2020","unstructured":"Dorigo M, Theraulaz G, Trianni V. Reflections on the future of swarm robotics. Sci Robot. 2020;5:eabe4385. https:\/\/doi.org\/10.1126\/scirobotics.abe4385.","journal-title":"Sci Robot"},{"issue":"9","key":"988_CR10","doi-asserted-by":"publisher","first-page":"494","DOI":"10.1038\/s42256-020-0215-0","volume":"2","author":"M Birattari","year":"2020","unstructured":"Birattari M, Ligot A, Hasselmann K. Disentangling automatic and semi-automatic approaches to the optimization-based design of control software for robot swarms. Nat Mach Intell. 2020;2(9):494\u20139. https:\/\/doi.org\/10.1038\/s42256-020-0215-0.","journal-title":"Nat Mach Intell"},{"key":"988_CR11","doi-asserted-by":"publisher","first-page":"4345","DOI":"10.1038\/s41467-021-24642-3","volume":"12","author":"K Hasselmann","year":"2021","unstructured":"Hasselmann K, Ligot A, Ruddick J, Birattari M. Empirical assessment and comparison of neuro-evolutionary methods for the automatic off-line design of robot swarms. Nat Commun. 2021;12:4345. https:\/\/doi.org\/10.1038\/s41467-021-24642-3.","journal-title":"Nat Commun"},{"issue":"1","key":"988_CR12","doi-asserted-by":"publisher","first-page":"1463","DOI":"10.4249\/scholarpedia.1463","volume":"9","author":"M Dorigo","year":"2014","unstructured":"Dorigo M, Birattari M, Brambilla M. Swarm robotics. Scholarpedia. 2014;9(1):1463. https:\/\/doi.org\/10.4249\/scholarpedia.1463.","journal-title":"Scholarpedia"},{"key":"988_CR13","doi-asserted-by":"publisher","first-page":"59","DOI":"10.3389\/frobt.2019.00059","volume":"6","author":"M Birattari","year":"2019","unstructured":"Birattari M, Ligot A, Bozhinoski D, Brambilla M, Francesca G, Garattoni L, Garz\u00f3n Ramos D, Hasselmann K, Kegeleirs M, Kuckling J, Pagnozzi F, Roli A, Salman M, St\u00fctzle T. Automatic off-line design of robot swarms: a manifesto. Front Robot AI. 2019;6:59. https:\/\/doi.org\/10.3389\/frobt.2019.00059.","journal-title":"Front Robot AI"},{"issue":"2\u20134","key":"988_CR14","doi-asserted-by":"publisher","first-page":"209","DOI":"10.1007\/s11721-008-0015-3","volume":"2","author":"H Hamann","year":"2008","unstructured":"Hamann H, W\u00f6rn H. A framework of space-time continuous models for algorithm design in swarm robotics. Swarm Intell. 2008;2(2\u20134):209\u201339. https:\/\/doi.org\/10.1007\/s11721-008-0015-3.","journal-title":"Swarm Intell"},{"issue":"4","key":"988_CR15","doi-asserted-by":"publisher","first-page":"672","DOI":"10.1108\/17563780911005836","volume":"2","author":"S Kazadi","year":"2009","unstructured":"Kazadi S. Model independence in swarm robotics. Int J Intell Comput Cybern. 2009;2(4):672\u201394. https:\/\/doi.org\/10.1108\/17563780911005836.","journal-title":"Int J Intell Comput Cybern"},{"key":"988_CR16","doi-asserted-by":"publisher","unstructured":"Berman S, Kumar V, Nagpal R. Design of control policies for spatially inhomogeneous robot swarms with application to commercial pollination. In: 2011 IEEE international conference on robotics and automation (ICRA). Piscataway: IEEE; 2011. pp. 378\u2013385. https:\/\/doi.org\/10.1109\/ICRA.2011.5980440","DOI":"10.1109\/ICRA.2011.5980440"},{"key":"988_CR17","doi-asserted-by":"publisher","unstructured":"Beal J, Dulman S, Usbeck K, Viroli M, Correll N. Organizing the aggregate: languages for spatial computing. In: Marjan M, editor. Formal and practical aspects of domain-specific languages: recent developments. Hershey: IGI Global; 2012. pp. 436\u2013501. https:\/\/doi.org\/10.4018\/978-1-4666-2092-6.ch016","DOI":"10.4018\/978-1-4666-2092-6.ch016"},{"issue":"4","key":"988_CR18","doi-asserted-by":"publisher","first-page":"17:1","DOI":"10.1145\/2700318","volume":"9","author":"M Brambilla","year":"2014","unstructured":"Brambilla M, Brutschy A, Dorigo M, Birattari M. Property-driven design for swarm robotics: a design method based on prescriptive modeling and model checking. ACM Trans Auton Adapt Syst. 2014;9(4):17:1-17:28. https:\/\/doi.org\/10.1145\/2700318.","journal-title":"ACM Trans Auton Adapt Syst"},{"issue":"10","key":"988_CR19","doi-asserted-by":"publisher","DOI":"10.1371\/journal.pone.0140950","volume":"10","author":"A Reina","year":"2015","unstructured":"Reina A, Valentini G, Fern\u00e1ndez-Oto C, Dorigo M, Trianni V. A design pattern for decentralised decision making. PLOS ONE. 2015;10(10): e0140950. https:\/\/doi.org\/10.1371\/journal.pone.0140950.","journal-title":"PLOS ONE"},{"issue":"1","key":"988_CR20","doi-asserted-by":"publisher","first-page":"65","DOI":"10.1007\/s11721-016-0119-0","volume":"10","author":"YK Lopes","year":"2016","unstructured":"Lopes YK, Trenkwalder SM, Leal AB, Dodd TJ, Gro\u00df R. Supervisory control theory applied to swarm robotics. Swarm Intell. 2016;10(1):65\u201397. https:\/\/doi.org\/10.1007\/s11721-016-0119-0.","journal-title":"Swarm Intell"},{"issue":"4","key":"988_CR21","doi-asserted-by":"publisher","first-page":"97","DOI":"10.1109\/MS.2016.95","volume":"33","author":"C Pinciroli","year":"2016","unstructured":"Pinciroli C, Beltrame G. Buzz: a programming language for robot swarms. IEEE Softw. 2016;33(4):97\u2013100. https:\/\/doi.org\/10.1109\/MS.2016.95.","journal-title":"IEEE Softw"},{"key":"988_CR22","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-74528-2","volume-title":"Swarm robotics: a formal approach","author":"H Hamann","year":"2018","unstructured":"Hamann H. Swarm robotics: a formal approach. Cham, Switzerland: Springer; 2018. https:\/\/doi.org\/10.1007\/978-3-319-74528-2."},{"issue":"1","key":"988_CR23","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s11721-012-0075-2","volume":"7","author":"M Brambilla","year":"2013","unstructured":"Brambilla M, Ferrante E, Birattari M, Dorigo M. Swarm robotics: a review from the swarm engineering perspective. Swarm Intell. 2013;7(1):1\u201341. https:\/\/doi.org\/10.1007\/s11721-012-0075-2.","journal-title":"Swarm Intell"},{"issue":"29","key":"988_CR24","doi-asserted-by":"publisher","first-page":"1","DOI":"10.3389\/frobt.2016.00029","volume":"3","author":"G Francesca","year":"2016","unstructured":"Francesca G, Birattari M. Automatic design of robot swarms: achievements and challenges. Front Robot AI. 2016;3(29):1\u20139. https:\/\/doi.org\/10.3389\/frobt.2016.00029.","journal-title":"Front Robot AI"},{"key":"988_CR25","doi-asserted-by":"publisher","DOI":"10.1007\/s11721-019-00175-w","author":"A Ligot","year":"2019","unstructured":"Ligot A, Birattari M. Simulation-only experiments to mimic the effects of the reality gap in the automatic design of robot swarms. Swarm Intell. 2019. https:\/\/doi.org\/10.1007\/s11721-019-00175-w.","journal-title":"Swarm Intell"},{"issue":"2","key":"988_CR26","doi-asserted-by":"publisher","first-page":"89","DOI":"10.1007\/s11721-014-0092-4","volume":"8","author":"G Francesca","year":"2014","unstructured":"Francesca G, Brambilla M, Brutschy A, Trianni V, Birattari M. AutoMoDe: a novel approach to the automatic design of control software for robot swarms. Swarm Intell. 2014;8(2):89\u2013112. https:\/\/doi.org\/10.1007\/s11721-014-0092-4.","journal-title":"Swarm Intell"},{"key":"988_CR27","doi-asserted-by":"publisher","first-page":"43","DOI":"10.1016\/j.orp.2016.09.002","volume":"3","author":"M L\u00f3pez-Ib\u00e1\u00f1ez","year":"2016","unstructured":"L\u00f3pez-Ib\u00e1\u00f1ez M, Dubois-Lacoste J, P\u00e9rez C\u00e1ceres L, Birattari M, St\u00fctzle T. The irace package: iterated racing for automatic algorithm configuration. Oper Res Perspect. 2016;3:43\u201358. https:\/\/doi.org\/10.1016\/j.orp.2016.09.002.","journal-title":"Oper Res Perspect"},{"issue":"2\u20133","key":"988_CR28","doi-asserted-by":"publisher","first-page":"125","DOI":"10.1007\/s11721-015-0107-9","volume":"9","author":"G Francesca","year":"2015","unstructured":"Francesca G, Brambilla M, Brutschy A, Garattoni L, Miletitch R, Podevijn G, Reina A, Soleymani T, Salvaro M, Pinciroli C, Mascia F, Trianni V, Birattari M. AutoMoDe-Chocolate: automatic design of control software for robot swarms. Swarm Intell. 2015;9(2\u20133):125\u201352. https:\/\/doi.org\/10.1007\/s11721-015-0107-9.","journal-title":"Swarm Intell"},{"key":"988_CR29","doi-asserted-by":"publisher","DOI":"10.7717\/peerj-cs.291","author":"K Hasselmann","year":"2020","unstructured":"Hasselmann K, Birattari M. Modular automatic design of collective behaviors for robots endowed with local communication capabilities. PeerJ Comput Sci. 2020. https:\/\/doi.org\/10.7717\/peerj-cs.291.","journal-title":"PeerJ Comput Sci"},{"issue":"13","key":"988_CR30","doi-asserted-by":"publisher","first-page":"4654","DOI":"10.3390\/app10134654","volume":"10","author":"D Garz\u00f3n Ramos","year":"2020","unstructured":"Garz\u00f3n Ramos D, Birattari M. Automatic design of collective behaviors for robots that can display and perceive colors. Appl Sci. 2020;10(13):4654. https:\/\/doi.org\/10.3390\/app10134654.","journal-title":"Appl Sci"},{"key":"988_CR31","doi-asserted-by":"publisher","unstructured":"Ligot A, Hasselmann K, Birattari M. AutoMoDe-Arlequin: neural networks as behavioral modules for the automatic design of probabilistic finite state machines. In: Dorigo M, St\u00fctzle T, Blesa MJ, Blum C, Hamann H, Heinrich MK, Strobel V, editors. Swarm intelligence: 12th international conference, ANTS 2020, Lecture Notes in Computer Science, vol. 12421. Cham: Springer; 2020. pp. 109\u2013122. https:\/\/doi.org\/10.1007\/978-3-030-60376-2_21","DOI":"10.1007\/978-3-030-60376-2_21"},{"key":"988_CR32","doi-asserted-by":"publisher","first-page":"e221","DOI":"10.7717\/peerj-cs.221","volume":"5","author":"M Salman","year":"2019","unstructured":"Salman M, Ligot A, Birattari M. Concurrent design of control software and configuration of hardware for robot swarms under economic constraints. PeerJ Comput Sci. 2019;5:e221. https:\/\/doi.org\/10.7717\/peerj-cs.221.","journal-title":"PeerJ Comput Sci"},{"key":"988_CR33","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1007\/978-3-030-65154-1_1","volume-title":"Artificial Intelligence and Machine Learning: BNAIC 2019, BENELEARN 2019, Communications in Computer and Information Science","author":"J Kuckling","year":"2020","unstructured":"Kuckling J, Ubeda Arriaza K, Birattari M. AutoMoDe-IcePop: automatic modular design of control software for robot swarms using simulated annealing. In: Bogaerts B, Bontempi G, Geurts P, Harley N, Lebichot B, Lenaerts T, Louppe G, editors. Artificial Intelligence and Machine Learning: BNAIC 2019, BENELEARN 2019, Communications in Computer and Information Science, vol. 1196. Cham, Switzerland: Springer; 2020. p. 3\u201317."},{"key":"988_CR34","doi-asserted-by":"publisher","first-page":"e314","DOI":"10.7717\/peerj-cs.314","volume":"6","author":"A Ligot","year":"2020","unstructured":"Ligot A, Kuckling J, Bozhinoski D, Birattari M. Automatic modular design of robot swarms using behavior trees as a control architecture. PeerJ Comput Sci. 2020;6:e314. https:\/\/doi.org\/10.7717\/peerj-cs.314.","journal-title":"PeerJ Comput Sci"},{"key":"988_CR35","doi-asserted-by":"crossref","unstructured":"Kuckling J, van Pelt V, Birattari M. Automatic modular design of behavior trees for robot swarms with communication capabilities. In: Castillo PA, Jim\u00e9nez\u00a0Laredo JL, editors. Applications of evolutionary computation: 24th international conference, EvoApplications 2021, Lecture Notes in Computer Science, vol. 12694. Cham: Springer; 2021. pp. 130\u2013145.","DOI":"10.1007\/978-3-030-72699-7_9"},{"key":"988_CR36","doi-asserted-by":"publisher","unstructured":"Marzinotto A, Colledanchise M, Smith C, \u00d6gren P. Towards a unified behavior trees framework for robot control. In: 2014 IEEE international conference on robotics and automation (ICRA), Piscataway: IEEE; 2014. pp. 5420\u20135427. https:\/\/doi.org\/10.1109\/ICRA.2014.6907656","DOI":"10.1109\/ICRA.2014.6907656"},{"key":"988_CR37","unstructured":"Koza JR. Genetic programming: on the programming of computers by means of natural selection, first edn. MIT Press, Cambridge, MA, USA. 1992. A Bradford Book"},{"key":"988_CR38","doi-asserted-by":"publisher","unstructured":"O\u2019Neill M, Ryan C. Grammatical evolution: evolutionary automatic programming in an arbitrary language, 1st ed. Genetic programming series. Boston: Springer; 2003. https:\/\/doi.org\/10.1007\/978-1-4615-0447-4","DOI":"10.1007\/978-1-4615-0447-4"},{"key":"988_CR39","unstructured":"Isla D. Handling complexity in the Halo 2 AI. In: Game developers conference, GDC 2005, vol.\u00a012. London: Game Developers Conference (GDC). 2005."},{"key":"988_CR40","doi-asserted-by":"publisher","unstructured":"Colledanchise M, \u00d6gren P. Behavior trees in robotics and AI: an introduction, 1st ed. In: Chapman & Hall\/CRC artificial intelligence and robotics series. Boca Raton: CRC Press; 2018. https:\/\/doi.org\/10.1201\/9780429489105","DOI":"10.1201\/9780429489105"},{"key":"988_CR41","doi-asserted-by":"crossref","unstructured":"Nolfi S, Floreano D. Evolutionary robotics: the biology, intelligence, and technology of self-organizing machines, 1st ed. A Bradford Book. Cambridge: MIT Press. 2000.","DOI":"10.7551\/mitpress\/2889.001.0001"},{"key":"988_CR42","doi-asserted-by":"publisher","unstructured":"Trianni V, Labella Thomas H, Dorigo M. Evolution of direct communication for a swarm-bot performing hole avoidance. In: Dorigo M, Birattari M, Blum C, Gambardella LM, Mondada F, St\u00fctzle T, editors. Ant colony optimization and swarm intelligence: 4th international workshop, ANTS 2004, Lecture Notes in Computer Science, vol. 3172. Berlin: Springer; 2004. pp. 130\u2013141. https:\/\/doi.org\/10.1007\/978-3-540-28646-2_12","DOI":"10.1007\/978-3-540-28646-2_12"},{"key":"988_CR43","doi-asserted-by":"publisher","unstructured":"Jones C, Matari\u0107 MJ. Automatic synthesis of communication-based coordinated multi-robot systems. In: 2004 IEEE\/RSJ international conference on intelligent robots and systems (IROS), vol.\u00a01. Piscataway: IEEE; 2004. pp. 381\u2013387. https:\/\/doi.org\/10.1109\/IROS.2004.1389382","DOI":"10.1109\/IROS.2004.1389382"},{"key":"988_CR44","doi-asserted-by":"publisher","unstructured":"Wischmann S, Pasemann F. The emergence of communication by evolving dynamical systems. In: Nolfi S, Baldassarre G, Calabretta R, Hallam J, Marocco D, Meyer JA, Miglino O, Parisi D, editors. From animals to animats 9: 9th international conference on simulation of adaptive behavior, SAB 2006, Lecture Notes in Computer Science, vol. 4095. Berlin: Springer; 2006. pp. 777\u2013788. https:\/\/doi.org\/10.1007\/11840541_64","DOI":"10.1007\/11840541_64"},{"key":"988_CR45","unstructured":"Marocco D, Nolfi S. Self-organization of communication in evolving robots. In: Rocha LM, Yaeger LS, Bedau MA, Floreano D, Goldstone RL, Vespignani A, editors. Artificial life X: proceedings of the tenth international conference on the simulation and synthesis of living systems, complex adaptive systems. Cambridge: MIT Press; 2006."},{"issue":"3","key":"988_CR46","doi-asserted-by":"publisher","first-page":"864","DOI":"10.1073\/pnas.1104267109","volume":"109","author":"S Wischmann","year":"2012","unstructured":"Wischmann S, Floreano D, Keller L. Historical contingency affects signaling strategies and competitive abilities in evolving populations of simulated robots. Proc Natl Acad Sci USA. 2012;109(3):864\u20138. https:\/\/doi.org\/10.1073\/pnas.1104267109.","journal-title":"Proc Natl Acad Sci USA"},{"issue":"2","key":"988_CR47","doi-asserted-by":"publisher","first-page":"146","DOI":"10.1109\/TAMD.2011.2120608","volume":"3","author":"R Uno","year":"2011","unstructured":"Uno R, Marocco D, Nolfi S, Ikegami T. Emergence of protosentences in artificial communicating systems. IEEE Trans Auton Mental Dev. 2011;3(2):146\u201353. https:\/\/doi.org\/10.1109\/TAMD.2011.2120608.","journal-title":"IEEE Trans Auton Mental Dev"},{"key":"988_CR48","doi-asserted-by":"publisher","unstructured":"Jones S, Studley M, Hauert S, Winfield A. Evolving behaviour trees for swarm robotics. In: Gro\u00df R, Kolling A, Berman S, Frazzoli E, Martinoli A, Matsuno F, Gauci M, editors. Distributed autonomous robotic systems: the 13th international symposium, Springer Proceedings in Advanced Robotics, vol. 6. Cham; Springer; 2018. pp. 487\u2013501. https:\/\/doi.org\/10.1007\/978-3-319-73008-0_34","DOI":"10.1007\/978-3-319-73008-0_34"},{"issue":"6","key":"988_CR49","doi-asserted-by":"publisher","first-page":"1900031","DOI":"10.1002\/aisy.201900031","volume":"1","author":"S Jones","year":"2019","unstructured":"Jones S, Winfield A, Hauert S, Studley M. Onboard evolution of understandable swarm behaviors. Adv Intell Syst. 2019;1(6):1900031. https:\/\/doi.org\/10.1002\/aisy.201900031.","journal-title":"Adv Intell Syst"},{"key":"988_CR50","doi-asserted-by":"publisher","unstructured":"Neupane A, Goodrich M. Learning swarm behaviors using grammatical evolution and behavior trees. In: Kraus S, editor. Proceedings of the twenty-eighth international joint conference on artificial intelligence, IJCAI-19. CA, USA; IJCAI Organization; 2019; pp. 513\u2013520. https:\/\/doi.org\/10.24963\/ijcai.2019\/73","DOI":"10.24963\/ijcai.2019\/73"},{"key":"988_CR51","doi-asserted-by":"publisher","unstructured":"Ferrante E, Du\u00e9\u00f1ez-Guzm\u00e1n EA, Turgut AE, Wenseleers T. GESwarm: grammatical evolution for the automatic synthesis of collective behaviors in swarm robotics. In: Blum C, editor. GECCO\u201913: proceedings of the 15th annual conference on genetic and evolutionary computation. New York: ACM; 2013. pp. 17\u201324. https:\/\/doi.org\/10.1145\/2463372.2463385","DOI":"10.1145\/2463372.2463385"},{"key":"988_CR52","unstructured":"Hasselmann K, Ligot A, Francesca G, Garz\u00f3n\u00a0Ramos D, Salman M, Kuckling J, Mendiburu FJ, Birattari M. Reference models for AutoMoDe. Tech. Rep. TR\/IRIDIA\/2018-002, IRIDIA, Brussels. 2018."},{"key":"988_CR53","unstructured":"Kuckling J, Ligot A, Bozhinoski D, Birattari M. Search space for AutoMoDe-Chocolate and AutoMoDe-Maple. Tech. Rep. TR\/IRIDIA\/2018-012, IRIDIA, Brussels. 2018."},{"issue":"1\u20135","key":"988_CR54","doi-asserted-by":"publisher","first-page":"193","DOI":"10.1023\/A:1006556606079","volume":"11","author":"O Maron","year":"1997","unstructured":"Maron O, Moore AW. The Racing Algorithm: model selection for lazy learners. Artif Intell Rev. 1997;11(1\u20135):193\u2013225. https:\/\/doi.org\/10.1023\/A:1006556606079.","journal-title":"Artif Intell Rev"},{"key":"988_CR55","first-page":"2171","volume":"13","author":"FA Fortin","year":"2012","unstructured":"Fortin FA, De Rainville FM, Gardner MA, Parizeau M, Gagn\u00e9 C. DEAP: evolutionary algorithms made easy. J Mach Learn Res. 2012;13:2171\u20135.","journal-title":"J Mach Learn Res"},{"key":"988_CR56","doi-asserted-by":"crossref","unstructured":"Fenton M, McDermott J, Fagan D, Forstenlechner S, Hemberg E, O\u2019Neill M. PonyGE2: grammatical evolution in Python. arxiv:1703.08535. 2017.","DOI":"10.1145\/3067695.3082469"},{"key":"988_CR57","doi-asserted-by":"crossref","unstructured":"Kuckling J, van Pelt V, Birattari M. AutoMoDe-Cedrata: automatic design of behavior trees for controlling a swarm of robots with communication capabilities: supplementary material. http:\/\/iridia.ulb.ac.be\/supp\/IridiaSupp2021-004\/. 2021.","DOI":"10.1007\/s42979-021-00988-9"},{"key":"988_CR58","unstructured":"Kuckling J, Hasselmann K, van Pelt V, Kiere C, Birattari M. AutoMoDe Editor: a visualization tool for AutoMoDe. Tech. Rep. TR\/IRIDIA\/2021-009, IRIDIA, Brussels. 2021."},{"issue":"4","key":"988_CR59","doi-asserted-by":"publisher","first-page":"271","DOI":"10.1007\/s11721-012-0072-5","volume":"6","author":"C Pinciroli","year":"2012","unstructured":"Pinciroli C, Trianni V, O\u2019Grady R, Pini G, Brutschy A, Brambilla M, Mathews N, Ferrante E, Di Caro GA, Ducatelle F, Birattari M, Gambardella LM, Dorigo M. ARGoS: a modular, parallel, multi-engine simulator for multi-robot systems. Swarm Intell. 2012;6(4):271\u201395. https:\/\/doi.org\/10.1007\/s11721-012-0072-5.","journal-title":"Swarm Intell"}],"container-title":["SN Computer Science"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s42979-021-00988-9.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s42979-021-00988-9\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s42979-021-00988-9.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,9,16]],"date-time":"2024-09-16T17:24:23Z","timestamp":1726507463000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s42979-021-00988-9"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,1,20]]},"references-count":59,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2022,3]]}},"alternative-id":["988"],"URL":"https:\/\/doi.org\/10.1007\/s42979-021-00988-9","relation":{},"ISSN":["2662-995X","2661-8907"],"issn-type":[{"type":"print","value":"2662-995X"},{"type":"electronic","value":"2661-8907"}],"subject":[],"published":{"date-parts":[[2022,1,20]]},"assertion":[{"value":"23 July 2021","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"5 December 2021","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"20 January 2022","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors declare that they have no conflict of interest.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}],"article-number":"136"}}