Inman Harvey

THIS IS MY pre-2006 WEBPAGE, NO LONGER UPDATED
Current webpage at www.informatics.susx.ac.uk/users/inmanh
CCNR (Centre for Computational Neuroscience and Robotics)
and
Evolutionary and Adaptive Systems Group
Informatics
[Formerly we were COGS (School of Cognitive and Computing Sciences)]
University of Sussex
Falmer
Brighton
BN1 9QH
UK

Email: inmanh@sussex.ac.uk
Phone: (+44) 1273 678431
Fax: (+44) 1273 671320
Office: COGS rm 5C12

FAQs 

Doctoral Research Students

Link to EASy material

I am Course Director for the EASy (Evolutionary and Adaptive Systems) MSc.

Sci-Art walking robot project

In 2001/2 I have been much involved with a Sci-Art project to build a massive 6-legged man-carrying walking robot, for use in performance art, and to demonstrate dynamical approaches to walking. This is funded by the Wellcome Trust, with additional support from COGS, University of Sussex, and from Nottingham Trent University. In Summer 2002 the completed full-size prototype (4.5m across, needing some 4m headroom with someone on top, and at 330kg about 100kg too heavy!) went to Nottingham Trent University for rebuilding in lighter/stronger materials. Further details here.

Link to Non-Symbolic AI course material

Research Interests

The development of artificial evolution as an approach to the design of complex systems --- e.g. evolutionary robotics, evolvable hardware, molecules for pharmaceutical purposes....--- SAGA --- Species Adaptation Genetic Algorithms.

Neutral Networks --- pathways of neutral mutations through sequence space, or percolating ridges through fitness landscapes, which may be typical of many complex evolutionary scenarios and can be exploited by artificial evolution. Link to Neutral Networks discussion group.

Artificial Morphogenesis --- methods of `developing' phenotypes from artificial genotypes as a critically important current research problem in artificial evolution.

Philosophical approaches to AI and Artificial Life --- taking relativism seriously. Pet hates: unthinking closet Platonists, careless and slipshod use of words such as `internal representation', `learning', `information', and particularly `computation'.

Evolutionary Robotics --- the above concerns applied to the artificial evolution of the `nervous systems' and `sensori-motor couplings' of an autonomous robot with its world.

I organise the Alergic (Artificial LifE Reading Group In Cogs) informal discussion group.

Link to Brazilian project on using Evolutionary approaches to various Inverse Problems (incuding problems of determining geographical locations via satellites).

I was joint organiser with Phil Husbands of ECAL97, the Fourth European Conference on Artificial Life; this was held in Brighton July 28th-31st 1997.

Links to Representation papers

Please note: links to these papers do not imply endorsement of their contents!

Towards a Cognitive Robotics by Andy Clark and Rick Grush.
Representation is Representation of Similarities by Shimon Edelman. Behavioral and Brain Sciences, pending.
Genic Representations: Reconciling Content and Causal Complexity by Michael Wheeler and Andy Clark.
Trading spaces: computation, representation and the limits of uninformed learning by Andy Clark and Chris Thornton. Behaviour and Brain Sciences, 20 (pp. 57-90). Cambridge University Press (1997).
Untimed and misrepresented: connectionism and the computer metaphor by Inman Harvey. AISB Quarterly, 1996 no. 96, pp. 20--27. Also appears as CSRP 245 below.
Connaissances et représentations By Francisco Varela

Neutral Networks

Link to Lionel Barnett's MSc dissertation
"Tangled Webs: Evolutionary Dynamics on Fitness Landscapes with Neutrality"
MSc in Evolutionary and Adaptive Systems, September 1997:
FULL TEXT + FIGURES gzipped postscript (770663 bytes compressed)
ditto Word 6 zipped (811808 bytes compressed)

activate.d workshop
I gave two talks at the workshop on a Dynamical Systems approach to Life and Cognition, organised by Fernando Almeida e Costa and Eduardo Izquierdo-Torres at Sussex on 8th/9th March 2005. Copies of my Powerpoint presentations are here:
Learning and CTRNNs (ppt) (pdf)
Homeostsasis and Dynamical Representations (ppt) (pdf)

Publications

CSRP numbers refer to COGS Research papers. Usually the ftp-able version is one of these, which may differ slightly from the version published elsewhere.elsewhere.

McGregor, S., and Harvey, I. (2005 In Press): Embracing Plagiarism: Theoretical , Biological and Empirical Justification for Copy Operators in Genetic Optimisation [pdf] To appear in Genetic Programming and Evolvable Hardware.

Dyke, J.G., Harvey, I. (2005): Hysteresis and the Limits of Homeostasis: From Daisyworld to Phototaxis [pdf] [Word] To appear in Proceedings of VIIIth European Conference on Artificial Life, 2005.

Harvey, I., (2005): Evolution and the Origins of the Rational [pdf] [Word] Paper presented at Cognition, Evolution and Rationality: Cognitive Science for the 21^st Century. Oporto, September 2002. In: Zilhão, António (ed.), Cognition, Evolution, and Rationality. London, Routledge, 2005. Routledge Studies in the Philosophy of Science. ISBN 0415362601.

Harvey, I., Di Paolo, E., Wood, R., Quinn, M, and E. A., Tuci, (2005). Evolutionary Robotics: A new scientific tool for studying cognition [pdf] [Word]. Artificial Life, 11(1-2), pp. 79-98.

Harvey, I., Vaughan, E., and Di Paolo, E. (2004). Time and Motion Studies: The Dynamics of Cognition, Computation and Humanoid Walking [pdf] [Word]. Paper to be presented at HART 2004, Fourth Intl. Symp. on Human and Artificial Intelligence Systems: From Control to Autonomy. December 5-6, 2004, University of Fukui, Fukui, Japan.
PPt talk folder

Harvey, I., (2004). Artificial Life [pdf] [Word]. In: Gregory, Richard L. (ed.), The Oxford Companion to the Mind, 2nd edn, p. 56. Oxford University Press.

Harvey, I., (2004). Homeostasis and Rein Control: From Daisyworld to Active Perception
Proceedings of the Ninth International Conference on the Simulation and Synthesis of Living Systems, ALIFE'9, Pollack, J., Bedau, M,. Husbands, P., Ikegami, T., and Watson, R.A. (eds), pp. 309-314. MIT Press, Cambridge MA.
Conference Powerpoint presentation

Penn, A. and Harvey, I., (2004). The Role of Non-Genetic Change in the Heritability, Variation, and Response to Selection of Artificially Selected Ecosystems. Proceedings of the Ninth International Conference on the Simulation and Synthesis of Living Systems, ALIFE'9. Pollack, J., Bedau, M,. Husbands, P., Ikegami, T., and Watson, R.A. (eds), pp. 352-357. MIT Press, Cambridge MA.

Vaughan, E., Di Paolo, E. A. and Harvey, I., (2004). The tango of a load balancing biped. Proceedings of CLAWAR 2004, 7th International Conference on Climbing and Walking Robots. Conference 22-24 Sept. 2004, Madrid.

Vaughan, E., Di Paolo, E. A. and Harvey, I., (2004). The evolution of control and adaptation in a 3D powered passive dynamic walker. Proceedings of the Ninth International Conference on the Simulation and Synthesis of Living Systems, ALIFE'9, Pollack, J., Bedau, M,. Husbands, P., Ikegami, T., and Watson, R.A. (eds), pp. 139-145. MIT Press, Cambridge MA.

Di Paolo, E. A. and Harvey, I., (2003). Decisions and noise: the scope of evolutionary synthesis and dynamical analysis. Adaptive Behavior 11(4): 284-288.

E. Tuci, M. Quinn and I. Harvey (2003): An evolutionary ecological approach to the study of learning behaviour using a robot based model
Adaptive Behavior 10(3/4):201-222, 2003.

I. Harvey (2002): Evolving Robot Consciousness: The Easy Problems and the Rest
In Evolving Consciousness, J.H. Fetzer (ed.), Advances in Consciousness Research Series, John Benjamins, Amsterdam, pp. 205 -219, 2002. ISBN 90 272 5154 1

E. Tuci, I. Harvey and P.M. Todd (2002): Using a net to catch a mate: Evolving CTRNNs for the Dowry Problem.
Proceedings of The Seventh International Conference on the Simulation of Adaptive Behavior (SAB'02), 4-9 August 2002, Edinburgh, UK, pdf, ps.

E. Tuci, I. Harvey and M. Quinn (2002): Evolving integrated controllers for autonomous learning robots using dynamic neural networks.
Proceedings of The Seventh International Conference on the Simulation of Adaptive Behavior (SAB'02), 4-9 August 2002, Edinburgh, UK, pdf, ps

E. Tuci, M. Quinn and I. Harvey (2002): Evolving fixed-weight networks for learning robots.
Proceedings Congress on Evolutionary Computation (CEC) 2002, Honolulu, Hawaii, May 12-17, 2002, pdf, ps

W. Bains, R. Gilbert, L. Sviridenko, J-M. Gascon, R. Scoffin, K. Birchall, I. Harvey and J. Caldwell (2002): Evolutionary computational methods to predict oral bioavailability QSPRs
Current Opinion in Drug Discovery & Development 5(1):44-51, 2002.

I. Harvey (2001): Artificial Evolution: A Continuing SAGA
In Evolutionary Robotics: From Intelligent Robots to Artificial Life, Takashi Gomi (ed.), Proc. of 8th Intl. Symposium on Evolutionary Robotics (ER2001). Springer-Verlag Lecture Notes in Computer Science LNCS 2217 2001.

R. Shipman, M. Shackleton and I. Harvey (2000): The use of neutral genotype-phenotype mappings for improved evolutionary search
BT Technology Journal, v. 18 no. 4, pp. 103-111, October 2000. ISSN 1358-3948.

I. Harvey (2000): Robotics: Philosophy of Mind using a Screwdriver
In Evolutionary Robotics: From Intelligent Robots to Artificial Life, Vol. III, T. Gomi (ed), AAI Books, Ontario, Canada, 2000. pp. 207-230. ISBN 0-9698872-3-X.

G. Ochoa, I. Harvey, H. Buxton. (2000): Consensus Sequence Plots and Error Thresholds: Tools for Visualising the Structure of Fitness Landscapes Parallel Problem Solving from Nature (PPSN VI) 6th International Conference, Paris, France, LNCS 1917, Springer-Verlag, Berlin.

G. Ochoa, I. Harvey, H. Buxton. (2000): Optimal Mutation Rates and Selection Pressure in Genetic Algorithms. Proceedings of Genetic and Evolutionary Computation Conference (GECCO-2000), Morgan Kaufmann, San Francisco, CA., CA.

P. Husbands, I. Harvey, D. Cliff and G. Miller (2000): Artificial evolution: a new path for Artificial Intelligence?
In: Artificial Intelligence: Critical Concepts in Cognitive Science, R. Chrisley (ed.). Vol. III. Routledge, 2000, ISBN 0415193311.

W.E. Moore and I. Harvey (1999): Evolution of a Non-Linear Robot Controller
In Robotics and Applications, M.A. Hanza (ed.), Acta Press, Calgary, 1999.
Proc. of IASTED Int. Conf. on Robotics and Applications (RA'99), Santa Barbara October 1999. ISBN: 0-88986-265-6 (304).

I. Harvey (1999): Creatures from another world
Nature, v.400, 12 August 1999, pp. 618-619.

G. Ochoa, I. Harvey and H. Buxton (1999): Error Thresholds and their Relation to Optimal Mutation Rates
In Proceedings of the Fifth European Conference on Artificial Life (ECAL99), D. Floreano, J-D. Nicoud, F. Mondada (eds), Springer-Verlag, 1999. ISBN: 3540664521

G. Ochoa, I. Harvey and H. Buxton(1999): On Recombination and Optimal Mutation Rates
In Gecco '99 : Proceedings of the Genetic and Evolutionary Computation Conference W. Banzhaf, J. Daida and A.E. Eiben (eds.). Morgan Kaufmann 1999. ISBN: 1558606114

G. Ochoa and I. Harvey (1999): Recombination and Error Thresholds in Finite Populations
In Foundations of Genetic Algorithms, W. Banzhaf (ed.). Proc. of FOGA 5 (Foundations of Genetic Algorithms Workshop, Leiden Sept 1998). Morgan Kaufmann 1999. ISBN: 1558605592

J-A. Meyer, P. Husbands and I. Harvey (1998): Evolutionary Robotics: a Survey of Applications and Problems
In Evolutionary Robotics : First European Workshop, Evorobot'98, P. Husbands and J.-A. Meyer (eds.). Springer Verlag 1998. ISBN: 3540649573

I. Harvey (1997): Open the Box
Workshop on Evolutionary Computation with Variable Size Representation, at ICGA97, Intl. Conf. on Genetic Algorithms, July 19--23 1997 at Michigan State University, East Lansing, Michigan.

P. Husbands and I. Harvey (1997): Evolving minimal sensorimotor systems: Rectangles, triangles, robots and transients.
Artificial Life and Robotics, 1(2):23-42, 1997.

P. Husbands, I. Harvey, D. Cliff and G. Miller (1997): Artificial Evolution: A New Path for Artificial Intelligence?
Brain and Cognition v. 34, pp. 130-159, 1997.
(Postscript file, cannot view but should print)
(pdf file)

I. Harvey (1997): Cognition is not Computation: Evolution is not Optimisation
In Artificial Neural Networks - ICANN97, Gerstner, W., Germond, A., Hasler, M, and Nicoud, J-D (eds). Springer-Verlag LNCS 1327 (1997) pp. 685-690. ISBN: 3540636315
Proc. of 7th International Conference on Artificial Neural Networks, 7-10 October 1997, Lausanne, Switzerland.

I. Harvey (1997): Artificial Evolution for Real Problems
5th Intl. Symposium on Evolutionary Robotics, Tokyo April 1997. Invited paper. In: Evolutionary Robotics: From Intelligent Robots to Artificial Life (ER'97), T. Gomi (ed.). AAI Books,Kanata, Ontario Canada 1997, pp. 127-149. ISBN: 0-9698872-1-3

I. Harvey and T. Bossomaier (1997): Time Out of Joint: Attractors in Asynchronous Random Boolean Networks
In Proceedings of the Fourth European Conference on Artificial Life (ECAL97), P. Husbands and I. Harvey (eds.). MIT Press 1997, pp. 67-75.

P. Husbands and I. Harvey (eds.) (1997): Proceedings of the Fourth European Conference on Artificial Life (ECAL97), MIT Press 1997. ISBN: 0262581574

I. Harvey, P. Husbands, D. Cliff, A. Thompson, N. Jakobi (1997): Evolutionary Robotics: the Sussex Approach
In Robotics and Autonomous Systems, v. 20 (1997) pp. 205--224.

P. Husbands, I. Harvey, N. Jakobi, A. Thompson, and D. Cliff (1997): Evolutionary Robotics
In Handbook of Evolutionary Computation, chap. G3.7, T. Back, D. Fogel, and Z. Michalewicz (Eds.) Oxford University Press/Institute of Physics 1997.

D. Cliff, I. Harvey, P. Husbands (1997): Artificial Evolution of Visual Control Systems for Robots
In From Living Eyes to Seeing Machines M. Srinivisan and S. Venkatesh (eds), Oxford University Press (1997).

I. Harvey (1997): Is There Another New Factor in Evolution?
Evolutionary Computation, Special Issue on Evolution, Learning, and Instinct: 100 Years of the Baldwin Effect v. 4, n. 3, pp. 311--327, 1997.

I. Harvey (1997): Artificial Evolution and Real Robots
Artificial Life and Robotics vol. 1, pp. 35--38 (1997).

Also appears in Proceedings of International Symposium on Artificial Life and Robotics (AROB) Beppu, Japan Feb 18-20 1996. Masanori Sugisaka (ed.). ISBN4-9900462-6-9 (1996), pp. 138--141.

Inman Harvey (1996): Untimed and misrepresented: connectionism and the computer metaphor
AISB Quarterly, 1996 no. 96, pp. 20--27.
Also appears as CSRP 245 below.

J. Hobbs, P. Husbands and I. Harvey (1996): Achieving Improved Mission Robustness
In Proc. of 4th ESA Workshop on Advanced Space Technologies for Robotic Applications, ASTRA 96, European Space Agency 1996.

I. Harvey and A. Thompson (1996): Through the Labyrinth Evolution Finds a Way: A Silicon Ridge
In Evolvable Systems : From Biology to Hardwar, T. Higuchi, M. Iwata, and L. Weixin (eds.). Proc. of The First International Conference on Evolvable Systems: From Biology to Hardware (ICES96). Springer-Verlag 1996. ISBN: 3540631739
There is an MPEG movie of the saga through genotype space pictured in this paper -- but beware, it is 1255899 bytes compressed. Top left shows current position in saga, centre shows expanded version of current population and recent tail.

Inman Harvey (1996): Stars in their Eyes
Book review of Cognition in the Wild, Edwin Hutchins, MIT Press 1995. Review appears in Times Higher Education Supplement, p. 30, May 17th 1996.

P. Husbands, I. Harvey, D. Cliff, A. Thompson and N. Jakobi (1996): Artificial Evolution of Control Systems
In Proc. of the 2nd Intl. Conf. on Adaptive Computing in Engineering Design and Control '96 I.C. Parmee (ed), University of Plymouth (1996) pp. 41--49. ISBN 0 905227 61 1.

P. Husbands, D. Cliff and I. Harvey (1996): The Artificial Evolution of Control Systems
In Genetic Algorithms in Design Optimisation Proceedings of a Colloquium at The Institution of Mechanical Engineers, London, 31 January 1996.

P.P.B. de Oliveira, F.M. Ramos, R.C. Gatto, H.F.C. Velho, S. Stephany, P.L.K.G. Navarro, P. Husbands and I. Harvey (1996): A Research Agenda for Iterative Approaches to Inverse Problems using Evolutionary Computation
Proceedings of 3rd IEEE Intl. Conf. on Evol. Computation, Nagoya, Japan, May 1996. IEEE Press, Piscataway, NJ, pp.55-60, 1996.

I. Harvey, P. Husbands, D. Cliff, A. Thompson, N. Jakobi (1996): Evolutionary Robotics at Sussex
In Robotics and Manufacturing: Recent Trends in Research and Applications vol. 6, M. Jamshidi, F. Pin and P. Dauchez (eds.), ASME Press, New York (1996) pages 293--298. Proceedings of ISRAM96, International Symposium on Robotics and Manufacturing, Montpellier, France May 27-30 1996.

I. Harvey: The Microbial Genetic Algorithm [pdf] [gzipped ps]
Unpublished, cite this web page as reference..

CSRP 397 A. Thompson, I. Harvey and P. Husbands: Unconstrained Evolution and Hard Consequences
In Towards Evolvable Hardware, E. Sanchez and M. Tomassini (eds.) Proceedings of First Intl. Conf. on Evolvable Hardware, Lausanne. Springer-Verlag Lecture Notes in Computer Science v. 1062 (1996).

A. Thompson, I. Harvey and P. Husbands: The Natural Way to Evolve Hardware
(A short 4 page version of the previous paper). Poster paper at the 1996 IEEE International Symposium on Circuits and Systems (ISCAS96).

CSRP 379 Inman Harvey and Jim Stone: Unicycling helps your French: Spontaneous recovery of associations by learning unrelated tasks
Neural Computation v.8, n.4, (1996) pp. 697-704.

I. Harvey: Relearning and Evolution in Neural Networks
Adaptive Behavior v.4, no.1, (1996) pp. 79-82.

P. Husbands, I. Harvey and D. Cliff: Circle in the Round: State Space Attractors for Evolved Sighted Robots
Robotics and Autonomous Systems 15 (1995) pp. 83--106.

P. Husbands, I. Harvey and D. Cliff: Circle in the Round: State Space Attractors for Evolved Sighted Robots
In The Biology and Technology of Intelligent Autonomous Agents, Luc Steels (ed.), NATO ASI Series, Series F: Computer and Systems Sciences, Vol. 144, Springer (1995) pp. 222--257.

N. Jakobi, P. Husbands and I. Harvey: Noise and the Reality Gap: The use of Simulation in Evolutionary Robotics
In Advances in Artificial Life: Proc. 3rd European Conference on Artificial Life, Moran, F., Moreno, A., Merelo, J., Chacon, P. (eds.) Springer-Verlag, Lecture Notes in Artificial Intelligence 929 (1995) pp. 704--720.

CSRP 317 Inman Harvey, Phil Husbands and Dave Cliff: Seeing the light: artificial evolution, real vision
Appears in D. Cliff, P. Husbands, J.-A. Meyer and S. Wilson (eds), From Animals to Animats 3, Proc. of 3rd Intl. Conf. on Simulation of Adaptive Behavior, SAB94, pp. 392--401. MIT Press/Bradford Books, Boston MA, 1994.

P. Husbands, I. Harvey, D. Cliff and G. Miller: The Use of Genetic Algorithms for the Development of Sensorimotor Control Systems in P. Gaussier and J.-D. Nicoud (eds.) From Perception to Action, pp. 110--121. IEEE Computer Society Press, Los Alamitos CA, 1994.

CSRP 222 Inman Harvey: Evolutionary robotics and SAGA: the case for hill crawling and tournament selection
Appears in C. Langton (ed.), Artificial Life III, Santa Fe Institute Studies in the Sciences of Complexity, Proc. Vol. XVI, pp. 299--326. Addison Wesley 1994.

CSRP 278 Inman Harvey: The puzzle of the persistent question marks: a case study of genetic drift
Appears in S. Forrest (ed.), Genetic Algorithms: Proc. of the Fifth Intl. Conference, pp. 15-22, San Mateo CA, Morgan Kaufmann, 1993.

CSRP 267 I. Harvey, P. Husbands and D. Cliff: Genetic convergence in a species of evolved robot control architectures
Version appears in: S. Forrest (ed.), Genetic Algorithms: Proc. of the Fifth Intl. Conference, pp. 636, San Mateo CA, Morgan Kaufmann, 1993.

CSRP 265 P. Husbands, I. Harvey and D. Cliff: Analysing recurrent dynamical networks evolved for robot control
Appears in: Proceedings of the Third IEE International Conference on Artificial Neural Networks (ANN93), pp.158--162. IEE Press, 1993.

CSRP 318 Dave Cliff, Inman Harvey and Phil Husbands: General visual robot controller networks via artificial evolution
Appears in: D. Casasent (ed.): Proceedings of the Society of Photo-optical Instrumentation Engineers Conference 1993 (SPIE93), Session on Intelligent Robots and Computer Vision XII: Algorithms and Techniques. SPIE Conference Volume 2055, pp.271-282, 1993.

CSRP 264 D.T. Cliff, P. Husbands and I. Harvey: Analysis of evolved sensory-motor controllers
Appears in: Proceedings of the Second European Conference on Artificial Life (ECAL93), pp.192--204 (preprint) 1993.

CSRP 256 D. Cliff, I. Harvey and P. Husbands: Incremental evolution of neural network architectures for adaptive behaviour
Appears in: M. Verleysen (ed.): Proceedings of the First European Symposium on Artificial Neural Networks (ESANN93), pp.39--44. Brussels, Belgium: D-facto/Editions Quorum, 1993.

D. Cliff, I. Harvey and P. Husbands: Visual Sensory-Motor Networks Without Design: Evolving Visually Guided Robots
In B. Svensson (ed.): Proceedings of the International Workshop on Mechatronical Computer Systems for Perception and Action (MCPA93), pp.269--278. Halmstad, Sweden: CCA/Hogskolan press, 1993.

CSRP 220 D. Cliff, P. Husbands and I. Harvey: Evolving visually guided robots
Appears in: J.-A. Meyer, H. Roitblat and S. Wilson (eds.), From Animals to Animats 2: Proc. of the Second Intl. Conf. on Simulation of Adaptive Behavior, (SAB92), pp. 374--383. MIT Press/Bradford Books, Cambridge MA, 1993.

CSRP 219 I. Harvey, P. Husbands and D. Cliff: Issues in evolutionary robotics
Appears in: J.-A. Meyer, H. Roitblat and S. Wilson (eds.), From Animals to Animats 2: Proc. of the Second Intl. Conf. on Simulation of Adaptive Behavior, (SAB92), pp. 364--373. MIT Press/Bradford Books, Cambridge MA, 1993.

CSRP 245 Inman Harvey: Untimed and misrepresented: connectionism and the computer metaphor

D. Cliff, P. Husbands and I. Harvey: Evolving Recurrent Dynamical Networks for Robot Control. In R. Albrecht, C. Reeves, and N. Steele (eds.): Proceedings of the International Conference on Neural Networks and Genetic Algorithms (ANNGA93), pp.428--435. Springer-Verlag, 1993.

P. Husbands and I. Harvey and D. Cliff: An Evolutionary Approach to Situated AI
In A. Sloman, D. Hogg, G. Humphreys, A. Ramsay and D. Partridge (eds.): Prospects for Artificial Intelligence: Proceedings of the Ninth Conference of the Society for Artificial Intelligence and the Simulation of Behaviour (AISB93), pp.61--70. IOS Press, 1993.

D. Cliff, I. Harvey, P. Husbands: Explorations in Evolutionary Robotics
In Adaptive Behavior, vol. 2 no. 1, pp. 71--104, 1993

D. Cliff, I. Harvey and P. Husbands: Evolved Recurrent Dynamical Networks use Noise.
In S. Gielen and B. Kappen (eds.) Proceedings of the Third International Conference on Artificial Neural Networks (ICANN93), pp.285--288. Springer Verlag, 1993.

CSRP 223 Inman Harvey: The SAGA Cross: The Mechanics of Recombination for Species with Variable Length Genotypes
Appears in: Parallel Problem Solving from Nature, 2, R. Manner and B. Manderick, (eds.), North-Holland, 1992, pp. 269-278.

CSRP 221 Inman Harvey: Species Adaptation Genetic Algorithms: A basis for a continuing SAGA
Appears in: Toward a Practice of Autonomous Systems: Proceedings of the First European Conference on Artificial Life, F.J. Varela and P. Bourgine (eds.), MIT Press/Bradford Books, Cambridge, MA, 1992, pp. 346-354.

I. Harvey and P. Husbands: Evolutionary Robotics
In Proceedings of IEE Colloquium on Genetic Algorithms for Control Systems Engineering, London, Digest 1992/106: pp. 6/1-6/4, IEE Publications.

P. Husbands and I. Harvey: Evolution versus Design: Controlling Autonomous Robots
In Integrating Perception, Planning and Action: Proceedings of 3rd Annual Conference on Artificial Intelligence, Simulation and Planning, IEEE Press, 1992, pp. 139-146.

Inman Harvey: The Artificial Evolution of Behaviour
Appears in: From Animals to Animats: Proceedings of The First International Conference on Simulation of Adaptive Behavior J.-A. Meyer and S.W. Wilson (eds.), MIT Press/Bradford Books, Cambridge, MA, 1991, pp. 400-408.

Doctoral Thesis

Information on my D.Phil thesis on "The Artifical Evolution of Adaptive Behaviour" is available here.

Misc. local resources

List of COGS CSRPs (Tech Reports)