The evolution of sensorimotor functionality

One can study the the evolution of sensorimotor functionality by synthesizing this process in an abstract artificial life model, specifically, a population of agenda that interact with each other and with their environment in a way that allows natural selection implicitly to shape their sensorimotor couplings. The paper defines very general measures of environmental and sensory uncertainty, and of action's direct and indirect effects on perception, and reports a series of observations of these quantities in the context of the model.