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Soccer-playing robots can develop skills based on the success or failure of previous behavior, and skill-development is enhanced when all team members adopt successful behavior. ABSTRACT | Coevolution has been receiving increased attention as a method for simultaneously developing the control structures of multiple agents. Our ultimate goal is the mutual development of skills through coevolution. The coevolutionary process is, however, often prone to settle into suboptimal strategies. The keydoi:10.1109/jproc.2006.876918 fatcat:jueta3m6gzfrbf4azuy3uxcxvu