Algorithm 1.

An individual robot’s control loop for embodied evolution.

initialize robot;
for ever do
Sense - Act cycle (depends on robotic paradigm);
perf ← calculate performance;
if mating? then	//E.g., is another robot nearby?
transmit my genome;	//and optional further information
g ← receive mate’s genome;
store(g);
end
if replacement? then	//E.g., time or virtual energy runs out
parents ← select parents;
offspring ← variation(parents);
activate(offspring)//Time-sharing: control is handed over to the new candidate controller
end
end