Charles Darwin developed his theory of evolution by natural selection based on observations and evidence he collected during his voyage on the HMS Beagle from 1831-1836. During the voyage, Darwin visited places like Argentina, Australia, and the Galapagos Islands. He noticed that similar ecosystems had very different species, and that fossils resembled living organisms. He was particularly interested in how tortoises and finches varied between the Galapagos Islands. After returning home, Darwin developed the theory that organisms slowly change over generations through natural selection of beneficial inherited traits, leading to descent with modification from common ancestors.