The idea of coevolution in genetic algorithms is very interesting. It might not be directly usable in the first milestone for Gyoomard which is the development of a pattern generator for walking but the idea should be valuable in the next milestones.
Distributed GAs use time and space to evlove and can be highly beneficial for parallel programming.
The following paper has a good discussion on the above topic:
Distributed Coevlotionary Genetic Algorithms for Multi-Criteria and Multi-Constrain Optimisatioin, Phil Husbands
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