This paper proposes a novel framework for automatically designing feasible robots that are made up of various heterogeneous modules and raw materials already existing in the surrounding environment. Moreover, it highlights the interrelationship between the robotβs morphology, control, and environment by analyzing the coevolution of morphology and control in robots and allowing the initial set of robots to use the available units in the environment to self-assemble, self-reconfigure, and self-repair. In addition, digital fabrication technologies such as 3D printing are utilized to produce new units if needed and available
