We present a set of experiments in which simulated robots are evolved for the ability to aggregate and move together toward a light target. By developing and using quantitative indexes that capture the structural properties of the emerged formations, we show that evolved individuals display interesting behavioral patterns in which groups of robots act as a single unit. Moreover, evolved groups of robots with identical controllers display primitive forms of situated specialization and play different behavioral functions within the group according to the circumstances. Overall, the results presented in the article demonstrate that evolutionary techniques, by exploiting the self-organizing behavioral properties that emerge from the interactions between the robots and between the robots and the environment, are a powerful method for synthesizing collective behavior.

We analyze the efficacy of modern neuro-evolutionary strategies for continuous control optimization. Overall, the results collected on a wide variety of qualitatively different benchmark problems indicate that these methods are generally effective and scale well with respect to the number of parameters and the complexity of the problem. Moreover, they are relatively robust with respect to the setting of hyper-parameters. The comparison of the most promising methods indicates that the OpenAI-ES algorithm outperforms or equals the other algorithms on all considered problems. Moreover, we demonstrate how the reward functions optimized for reinforcement learning methods are not necessarily effective for evolutionary strategies and vice versa. This finding can lead to reconsideration of the relative efficacy of the two classes of algorithm since it implies that the comparisons performed to date are biased toward one or the other class.