In a birth, the genotypes from both parents are copied and combined using random crossover points to create the offspring genotype. There is a chance of mutation in the offspring genotype, during reproduction. 4.3 Morphology Swimmers are modeled as 2D figures comprised of interconnected line segments. The number of limbs can range from one to four. Each limb is divided into a series of segments, the number of which can range from two to four.
All segments are of the same length.
There are five morphology genes in the genotype. In this illustration, there is no autonomous motion affecting these forms so they appear unnaturally symmetrical. Each swimmer has an internal motor which drives a series of sinusoidal waves that bend its joints in myriad polyrhythms. Each of these are real values which can be negative or positive. In pursuit, a swimmer continually compares its axis of orientation to the relative direction of its goal, within its 360 degree visual field.