If somebody has access to Science, here is the original article: http://www.sciencemag.org/cgi/content/abstract/324/5923/85 http://www.sciencemag.org/cgi/conte

If somebody has access to Science, here is the original article: http://www.sciencemag.org/cgi/content/abstract/324/5923/85 http://www.sciencemag.org/cgi/content/abstract/324/5923/85 And here is their homepage: http://www.aber.ac.uk/compsci/Research/bio/robotsci/ http://www.aber.ac.uk/compsci/Research/bio/robotsci/ It seems they have been working on this already since longer ago, they had a paper in Nature in 2004: http://www.aber.ac.uk/compsci/Research/bio/robotsci/publications/KingNature2004.pdf http://www.aber.ac.uk/compsci/Research/bio/robotsci/publicat... From what I have seen after skimming through their site, they use multiple methods - logic programming solver in Prolog [1] and also some evolutionary algorithms [2]. If you are interested in details, they put online tons of supporting material for Science article (including Prolog sources) [3]. [1] http://en.wikipedia.org/wiki/Abductive_logic_programming http://en.wikipedia.org/wiki/Abductive_logic_programming [2] http://www.aber.ac.uk/compsci/Research/bio/robotsci/publications/EFOwMOGAs.pdf http://www.aber.ac.uk/compsci/Research/bio/robotsci/publicat... [3] http://www.aber.ac.uk/compsci/Research/bio/robotsci/data/ http://www.aber.ac.uk/compsci/Research/bio/robotsci/data/