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In tasks such as pursuit and evasion, multiple agents need to coordinate their behavior to achieve a common goal. An interesting question is, how can such behavior be best evolved? A powerful approach is to control the agents with neural networks, coevolve them in separate subpopulations, and test them together in the common task. In this paper, such a method, called Multiagent Enforced SubPopulations (Multiagent ESP), is proposed and demonstrated in a prey-capture task. First, the approach isdoi:10.1109/tamd.2009.2037732 fatcat:gesaiklstfbxxo2wwbeptdv5xu