![]() ![]() It is noteworthy that, for this task difficulty level (V = 4), NS-Team discovered solutions where only two predators actually chase the prey (see for instance regions (8,1) and (10,2)), which highlights the diversity of team behaviours that NS-Team can evolve. Figure 3.10 depicts typical movements of the predators and the prey in the different solutions. To confirm the diversity of solutions, we inspected the highest scoring solutions found in the high- quality behaviour regions. These re- sults are consistent with the exploration measures in Section 3.4.5. NS-Team evolves individuals that cover a wider range of behaviour regions, and can find diverse high-quality solutions. discussed in Section 3.4.5, fitness-driven coevolution often explores a rela- tively narrow region of the behaviour space (corresponding to the top-right corner of the map, Figure 3.9), and converges to solutions in regions (10,9) and (10,8) (Fig- ure 3.9) in all evolutionary runs.
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