#FIG 3.1 Portrait Center Inches 1200 2 5 1 0 1 -1 7 0 0 -1 0.000 0 1 1 0 1977.632 2776.974 600 2400 1200 3975 2100 4200 1 1 3.00 60.00 120.00 6 4950 3900 7950 6900 2 2 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 5 4950 3900 5550 3900 5550 4500 4950 4500 4950 3900 2 2 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 5 4950 4800 5550 4800 5550 5400 4950 5400 4950 4800 2 2 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 5 4950 6300 5550 6300 5550 6900 4950 6900 4950 6300 2 2 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 5 7350 3900 7950 3900 7950 4500 7350 4500 7350 3900 2 2 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 5 7350 4800 7950 4800 7950 5400 7350 5400 7350 4800 2 2 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 5 7350 6300 7950 6300 7950 6900 7350 6900 7350 6300 -6 6 4425 3225 6000 3600 4 0 -1 0 0 0 12 0.0000 4 180 1545 4425 3375 Randomly generated\001 4 0 -1 0 0 0 12 0.0000 4 135 1290 4425 3600 obstacle courses\001 -6 6 6675 3075 8925 3675 4 0 -1 0 0 0 12 0.0000 4 180 2100 6675 3225 Steering agents specifically\001 4 0 -1 0 0 0 12 0.0000 4 135 2190 6675 3450 evolved in a random obstacle\001 4 0 -1 0 0 0 12 0.0000 4 90 510 6675 3675 course\001 -6 6 2100 2925 3375 3600 4 0 -1 0 0 0 12 0.0000 4 180 990 2250 3075 Population of\001 4 0 -1 0 0 0 12 0.0000 4 135 795 2325 3300 Coevolved\001 4 0 -1 0 0 0 12 0.0000 4 180 1230 2100 3525 Steering Agents\001 -6 6 3150 8325 4650 8775 4 0 -1 0 0 0 12 0.0000 4 180 1455 3150 8475 Coevolved steering\001 4 0 -1 0 0 0 12 0.0000 4 180 1305 3150 8700 agent robustness\001 -6 6 5700 8325 7575 8775 4 0 -1 0 0 0 12 0.0000 4 180 1845 5700 8475 Non-coevolved steering\001 4 0 -1 0 0 0 12 0.0000 4 180 1305 5700 8700 agent robustness\001 -6 1 1 0 1 -1 7 0 0 -1 0.000 1 0.0000 2700 5400 900 1725 2700 5400 3600 7125 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 7275 4200 5625 4200 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 7275 4200 5625 5100 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 7275 4200 5625 6600 2 1 2 1 -1 7 0 0 -1 3.000 0 0 -1 0 0 2 7275 5100 7050 4950 2 1 2 1 -1 7 0 0 -1 3.000 0 0 -1 0 0 2 7275 5100 7050 5100 2 1 2 1 -1 7 0 0 -1 3.000 0 0 -1 0 0 2 7275 5100 7050 5250 2 1 1 1 -1 7 0 0 -1 4.000 0 0 -1 0 0 2 5250 5475 5250 6225 2 1 1 1 -1 7 0 0 -1 4.000 0 0 -1 0 0 2 7650 5475 7650 6225 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 5250 4575 5250 4725 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 7650 4575 7650 4725 2 1 2 1 -1 7 0 0 -1 3.000 0 0 -1 0 0 2 7275 6600 7050 6600 2 1 2 1 -1 7 0 0 -1 3.000 0 0 -1 0 0 2 7275 6600 7050 6450 2 1 2 1 -1 7 0 0 -1 3.000 0 0 -1 0 0 2 7275 6600 7050 6375 2 2 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 5 2400 3900 3000 3900 3000 4500 2400 4500 2400 3900 2 2 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 5 2400 4800 3000 4800 3000 5400 2400 5400 2400 4800 2 2 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 5 2400 6300 3000 6300 3000 6900 2400 6900 2400 6300 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 3075 4200 4875 4200 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 3075 4200 4875 5100 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 3075 4200 4875 6600 2 1 2 1 -1 7 0 0 -1 3.000 0 0 -1 0 0 2 3075 5100 3300 5100 2 1 2 1 -1 7 0 0 -1 3.000 0 0 -1 0 0 2 3075 5100 3300 4950 2 1 2 1 -1 7 0 0 -1 3.000 0 0 -1 0 0 2 3075 5100 3300 5250 2 1 2 1 -1 7 0 0 -1 3.000 0 0 -1 0 0 2 3075 6600 3300 6600 2 1 2 1 -1 7 0 0 -1 3.000 0 0 -1 0 0 2 3075 6600 3300 6450 2 1 2 1 -1 7 0 0 -1 3.000 0 0 -1 0 0 2 3075 6600 3300 6375 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 4 5250 9000 5100 9600 5400 9600 5250 9000 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 6 3600 8850 4200 8850 4500 9000 6000 9000 6300 8850 6900 8850 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 1 0 2 1 1 3.00 60.00 120.00 3900 6600 3900 8100 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 1 0 2 1 1 3.00 60.00 120.00 6600 6600 6600 8100 2 4 0 1 -1 7 0 0 -1 0.000 0 0 7 0 0 5 2100 2400 2100 900 300 900 300 2400 2100 2400 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 2700 4575 2700 4725 2 1 0 1 -1 7 0 0 -1 0.000 0 0 -1 0 0 2 2700 5475 2700 6225 4 0 -1 0 0 0 12 0.0000 4 135 90 5175 4275 1\001 4 0 -1 0 0 0 12 0.0000 4 135 90 5175 5175 2\001 4 0 -1 0 0 0 12 0.0000 4 90 90 5175 6675 n\001 4 0 -1 0 0 0 12 0.0000 4 135 495 5850 4125 evolve\001 4 0 -1 0 0 0 12 0.5236 4 135 645 5925 4875 evaluate\001 4 0 -1 0 0 0 12 0.9599 4 135 645 6000 5925 evaluate\001 4 0 -1 0 0 0 12 0.0000 4 135 90 7575 4275 1\001 4 0 -1 0 0 0 12 0.0000 4 135 90 7575 5100 2\001 4 0 -1 0 0 0 12 0.0000 4 90 90 7650 6675 n\001 4 0 -1 0 0 0 12 0.0000 4 180 690 900 3600 produces\001 4 0 -1 0 0 0 12 0.0000 4 180 1185 600 1425 Coevolutionary \001 4 0 -1 0 0 0 12 0.0000 4 135 615 825 1875 Process\001 4 0 -1 0 0 0 12 5.8469 4 135 645 3900 4575 evaluate\001 4 0 -1 0 0 0 12 5.3233 4 135 645 4050 5400 evaluate\001 4 0 -1 0 0 0 12 0.0000 4 135 645 3825 4125 evaluate\001 4 0 -1 0 0 0 12 0.0000 4 135 90 2550 4200 1\001 4 0 -1 0 0 0 12 0.0000 4 135 90 2550 5100 2\001 4 0 -1 0 0 0 12 0.0000 4 135 180 2625 6600 n2\001