The JaCalIVE framework for MAS in IVE: A case study in evolving modular robotics

This paper presents a framework specially designed for the execution and adaptation of Intelligent Virtual Environments. This framework, called JaCalIVE, facilitates the development of this kind of environments managing in an efficient and realistic way the evolution of parameters for the adaptation of the physical world. The framework includes a design method and a physical simulator which is in charge of giving the Intelligent Virtual Environment the look of the real or physical world, allowing to simulate physical phenomena such as gravity or collision detection. The paper also includes a case study which illustrates the use of the proposed framework as an evolutive algorithm which allows the automatic adaptation of modular robots.