Construction process.

This example illustrates the execution of the third (and last) gene of the genome shown in Table 1. (a) The initial configuration shows the state after construction of the first two genes, i.e. a passive element is fixed onto an active module (labeled as structure) and a second active element is prepared. (b-c) Rotation of the structure by -90° around the z-axis and 90° around y. (d) Rotation of the new element by -90° around y. (e-f) HMA is applied to the structure and the module is connected on top of the structure according to the position offset parameters Δx and Δy. (g) An end-rotation of the whole agent by 90° around the y-axis is performed. (h) The motor control parameters are assigned to the active elements and the agent can be evaluated.