Multiple Instances of a Single Controller

In ELSE, evolving one controller that handled all the inputs and outputs was pretty much a dead-end. Instead, evolving a single controller network and making two "instances" of it, one for the left side and a mirrored one used by the right side. (need to measure this and the effect of adding a communication connection)

It turns out that insects may do a similar thing. Holk Cruse, according to this the ANWM Seminar notes, "found that insects, which have many legs, do not use a central processor to keep track of all the movements of their multiple legs. Instead local interactions between sensory motor reflexes enable complex walking behaviors to emerge."