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This research work illustrates the details of a methodological approach to the design of homogeneous neuro-controllers for self-assembly in physical autonomous robots in which no assumptions are made concerning how agents allocate roles. Artificial evolution is used to set the parameters of a dynamical neural network that when ported on two physical robots allows them to coordinate their actions in order to decide who will grip whom. The neural network directly controls the state of all thedblp:conf/alife/TuciATCD08 fatcat:lwg6ihxhg5c7dbw7aozyd6cmqe