12:00, 13-Mar-96, WeH 7220 A Developmental Model for the Evolution of Complete Autonomous Agents Frank Dellaert Development is an important, powerful and integral element of biological evolution. We will present two models of development that can be used to evolve functional autonomous agents, complete with bodies and neural control systems. The first and most complex model is more biologically defensible in its details. It has been used to hand-design a genome for the development of complete agents capable of executing a simple avoidance task. These agents were then incrementally improved through evolution. The second model is simpler and uses a random Boolean network model for the genome and cell state that is somewhat more removed from the biological realm, making it easier to analyze and more amenable to evolution. Using this model, we have successfully evolved complete agents from scratch that are capable of following curved lines. The submitted version of this paper is available via ftp off my home page: http://www.cs.cmu.edu/~dellaert/ ftp://ftp.cs.cmu.edu/afs/cs.cmu.edu/user/dellaert/ftp/SAB_96.ps.Z