Fig. 4: Pictorial representation of the design methods under analysis.
From: Automatic design of stigmergy-based behaviours for robot swarms
a Habanero, b EvoPheromone, c Human-Designers, and d Random-Walk. Habanero is an automatic modular design method. EvoPheromone is an implementation of the neuroevolutionary approach. Human-Designers is a manual design method. Although Random-Walk is not a design method, we include it to serve as a lower bound of performance. See the Methods section for the details.
