Abstract
Cartesian Genetic Programming (CGP) is a variant of Genetic Programming with several advantages. During the last one and a half decades, CGP has been further extended to several other forms with lots of promising advantages and applications. This article formally discusses the classical form of CGP and its six different variants proposed so far, which include Embedded CGP, Self-Modifying CGP, Recurrent CGP, Mixed-Type CGP, Balanced CGP, and Differential CGP. Also, this article makes a comparison among these variants in terms of population representations, various constraints in representation, operators and functions applied, and algorithms used. Further, future work directions and open problems in the area have been discussed.
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