Brad Dolin Forrest H. Bennett III Eleanor G. Rieffel Methods For Evolving Robust Distributed Robot Control Software: Coevolutionary And Single Population Techniques. 21-32 2001 conf/eh/2001 Evolvable Hardware http://csdl.computer.org/comp/proceedings/eh/2001/1180/00/11800021abs.htm db/conf/eh/eh2001.html#DolinBR01