Lehman, Joel, and Kenneth O. Stanley. "Evolving a diversity of virtual creatures through novelty search and local competition." Proceedings of the 13th annual conference on Genetic and evolutionary computation. ACM, 2011.
This implementation is not the original one. If you use this specific implementation, please cite : Mouret, Jean-Baptiste, and Stéphane Doncieux. "Sferes v2: Evolvin'in the multi-core world." IEEE Congress on Evolutionary Computation (CEC), IEEE 2010.
@inproceedings{mouret2010sferes, title={Sferes v2: Evolvin'in the multi-core world}, author={Mouret, Jean-Baptiste and Doncieux, St{'e}phane}, booktitle={IEEE Congress on Evolutionary Computation (CEC)}, pages={1--8}, year={2010}, organization={IEEE} }