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. 2010 Jan 26;8(1):e1000292. doi: 10.1371/journal.pbio.1000292

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Floreano, Keller.

This is an open-access article distributed under the terms of the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original author and source are properly credited.

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A) Experimental setup with a Khepera robot moving in the direction of the nest (recharging station), located in front of the light tower. B) Trajectory of an evolved robot after 200 generations. The trajectory starts in the lower left corner and ends within the recharging nest in the top left corner. Each point corresponds to the recording of the robot's position using an external tracking device. The arena and the recharging nest were plotted by manually positioning the robot along their contours.