Hierarchies based on the number of cooperating systems of three-dimensional finite automata.
Yasuo UchidaMakoto SakamotoSatoshi OkataniKaoru KajisaMasatsugu FukudaTomoya MatsukawaAyumi TaniueTakao ItoHiroshi FurutaniMichio KonoPublished in: Artif. Life Robotics (2009)