A model for intrinsic artificial development featuring structural feedback and emergent growth

A model for intrinsic artificial development is introduced in this paper. The proposed model features a novel mechanism where growth emerges, rather than being triggered by a single action. Different types of cell signalling ensure that breaking symmetries is rather the norm than an exception, and gene activity is regulated on two layers: first, by the proteins that are produced by the gene regulatory network (GRN). Second, through structural feedback by second messenger molecules, which are not directly produced through gene expression, but are produced by sensor proteins, which take the cell's structure into account. The latter feedback mechanism is a novel approach, intended to enable adaptivity and environment coupling in real-world applications. The model is implemented in hardware, and is designed to run autonomously in resource limited embedded systems. Initial experiments are carried out to measure long-term stability, dynamics, adaptivity and scalability of the new approach. Furthermore the ability of the GRN to produce patterns of different symmetries is examined.