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- 7 distance sensors (d0-d6)

- 2 sensors (Rl, Rr) for detecting

the resource.

- An omnidirectional distance

sensor (Rd) and a contact

sensor (Ro) for detecting the

resource.

- A bumper sensor (bp) for

detecting collisions.

for detecting the opponent.

- Sensors for fighting ability (A)

and energy level (E).

Arena boundary

Resource

Agent 1

Agent 2

d0

d3

d6

Rl

Rr

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CBRÕRLrLhAD<r:2<>RHJL>RÓMRÑr:MQ(HwA&GRÑ>RCf<6<]ÙkÔGRL_NMØ&×-@w<r:2<>AÀNMC(ÛEü_ÐERdÑr:2<>R¿N2Ø)CBNMCBéŒLh<>Ñr@EՑ<r@BÑY:2Q“×u@wé

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üŽRCùÑ[email protected]Ø8:=<.QÀR:MLh<»ïABAAA;ÚMRCERÑY:=<>AÀNMCnL-Ý+RÑrRÕNMCnHw@EՑ<rRH²Ö/RT:MÕYÐùÝ6A¹<rÐ :æHwA&GRÑ>RCK<

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HwR<rRÑr×AÀCBRTHÕNfCBCBRÕ<>AÀNMCEL~:2CEHÔE:2ÑY:2×.R<rRÑYLÛb!àR+Ý6ADQÀQfåEÑrLh<~L>@B×.×½:2ÑrAD÷R’ÚMRCBRÑY:2Q2åECEHwAÀCBÚfL

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0.65

0.7

0.75

0.8

0.85

0.9

0.95

1

-20 -10

0

10 20 30 40 50 60

Possession rate

Ž

Mean fitness

0

0.05

0.1

0.15

0.2

0.25

0.3

-20 -10

0

10 20 30 40 50 60

Serious injury rate



Mean fitness

SUT)V ·E·†‘J’“|³”

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ئ:2QÀQn<rN¤xŒABÛwÿkN-<>ÐBR8NMPEL>RÑrÓ=:=<rADNfC½<>ÐE:2<oåE<>CBRTL>L_LrÕNMÑrRL+:2ÑrRÚfÑ>RT:=<rRы<rÐE:2C÷RÑ>NLh@BÚfÚMRTL]<YL

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0.5

0.55

0.6

0.65

0.7

0.75

0.8

0.85

0.9

0.95

-20 -10

0

10 20 30 40 50 60

Prop. possessions by stronger

¥

Mean fitness

0.5

0.55

0.6

0.65

0.7

0.75

0.8

0.85

0.9

0.95

0.4

0.5

0.6

0.7

0.8

0.9

1

Prop. possessions by stronger

¥

Prop. peaceful possessions

SUT)V

·¦E·§‘J’“¦³”

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T)V– ³”

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WrijZ]ƒfWr[og‚WYX=ZovwWri¹Xf‚dsKgbg‚W‘s†a>€KgZ‹Z]ƒf[]WrW_cw`TijX=Z]p‹i¹X-Z]i¹bdW_gqr[]`p\poZ]WYXu[]eKXKpY¼k}MWrW¨“ij‚Tef[]W”^À`[

gX.WrMcKl¹gXkgZ]ij`X.`^²pŒ{Mbvw`Tljp/eKp\W‘sB¼

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Ý6A¹<rÐBNM@w<:»åEÚMÐK<Tۓü_ÐER-ÚfRCBRÑr:MQ~ÔBÑrN2ånQDRu<>ÐE:2<¿R×.RÑrÚMRLØ®ÑrNM×4Qa:=<>RAÀC;<>ÐERÑr@BCELª¦ÔnNfADCK<rL

×.:MÑfRHóÝ6A¹<rÐáÕADÑYÕQÀRL-AÀLNMCBRN2Ø8ÔnRT:MÕRØ®@BQ:MQDQÀNwÕ:2<>AÀNMC N2Ø<rÐBRÑrRL>NM@BÑYÕRfÖ&ÐEADÚfÐù×.R:MC

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:2CEH½ADزåEÚfÐf<rADCEÚu:2PBAÀQÀA¹<]Ù.ÐE:fL‹PGRÕNf×.R@BCBAÀ×.ÔnNfÑh<Y:2CK<Öf<>ÐBRCÝ6ÐE:2<o×.ADÚfÐK<oPGRÐE:MÔBÔnRCBAÀCBÚKô

!àRdRãK<rRCEHBRHJÑ>@ECJ÷RÑrNu<rN«*BAAAuÚMRCBRÑY:=<rADNfCEL_:2CEHQDNkNBMRHJ:=<6<rÐBRdÑrRL>@BQ¹<YL_ADCÚfÑ>RT:=<>RÑ

‰ ŠX.^agqrZoZ]ƒKW6Z\[]eKW6Z]ƒKWr`[]WrZ]ijq‘gl²`TcfZ]ijbeKb ijX½`TeM[+p\ijb8efl¹gZ]ij`TXijp'¬T”2¼EusMeKW_Z]`dZ]ƒKWvw`XMefp’^À`[

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0

0.2

0.4

0.6

0.8

1

1

10

100

1000

10000 100000

Rate

­

Generations

Possession

Serious injury

Peaceful possession

0

0.2

0.4

0.6

0.8

1

1

10

100

1000

10000 100000

Rate

­

Generations

Possession by stronger

Flight

SUT)V ·®G·†‘J’“|³”

cf[]`cw`[\Z]ij`TX`^nqY`X2Z]WrpŒZ]p)WYXksMijXK‚6ijXcw`Tp\p\WYp\p\ij`TX-`^EZ]ƒKW/[]WYp\`ef[]qYWT€McM[]`Tcw`[\Z]ij`Xu`^

cwWYgqYWr^ÀeKl²cw`p\p\WYp\p\ij`TXKpY€ngXks[hgZ]W`^Žp\Wr[]ij`Tefp_ijX—ef[\{=€kcflj`Z\Z]W‘s½`yzWr[o‚TWYXfWr[hgZ]ij`XKp+^À`[_[]efXdYWr[]`f¼

•

T)V†– ³”

cf[]`cw`[\Z]ij`TX`^(cw`Tp\p\Wrp\p\i¹`XKpov2{upŒZ\[]`XK‚TW>[_g‚TWYX=Z‘€wgXks[hgZ]WgZ‹º‹ƒKijqhƒ½g‚WYX=Z]p’ÄKW‘suZ]ƒfW

g[]WYXkg2€kcfl¹`Z\Z]W‘s-`yzW>[o‚WYXKW>[hgZ]ij`TXfp’^À`[‹[]eKX¯YWr[]`f¼Km+`Z]W+Z]ƒkgZ’Z]ƒfW+Z]ijbdW6gMWYp’g[]W6l¹`‚Á¦p\q‘gl¹WYsE¼

ê~AÀÚM@EÑ>R°óL>ÐBN=ÝL½Ó=:MÑ>AÀNM@EL½Lh<r:2<>AaL]<rAÀÕL½Ø®NfÑ»Ñr@BC ÷RÑ>NnےûCEL>@BÑrÔBÑrAÀL>ADCEÚMQÀÙM֋ÚfADÓfRC <>ÐBRADÑ

Ñr:MCEHwNM×.QÀÙÕNMCBCERՑ<rRH»CBR<]Ý+NMÑ+wLÖK:2ÚMRCK<rL‹AÀC<rÐBRAÀCBAD<>Aa:2Q“ÚMRCBRÑY:=<rADNfC½ÝoRÑ>RCBN2<+QDA)MRQDÙ<rN

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ÚMRCERÑY:=<>AÀNMCw*æÝ+RL>RR<rÐBR;ÐBAÀÚMÐERLh<QDRÓMRQaL.N2ØL>RÑ[email protected]ÀC=ð]@BÑrÙù:2CnHó<rÐBR;QÀN=ÝoRTL]<½QÀRÓfRQaL

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outputs

Motor

Sensory

inputs

}

LF

LB

RB

RF

}

d3

d6

Rr

neuron

neuron

"Straight-ahead"

"Right turn"

neuron

"Flee"

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