Daichi Morimoto Motoaki Hiraga Naoya Shiozaki Kazuhiro Ohkura Masaharu Munetomo Generating collective behavior of a multi-legged robotic swarm using an evolutionary robotics approach. 751-760 2022 27 Artif. Life Robotics 4 https://doi.org/10.1007/s10015-022-00800-8 db/journals/alr/alr27.html#MorimotoHSOM22a