On the Evolution of Homogeneous Multi-robot Teams: Clonal versus Aclonal Approach

This study compares two different evolutionary approaches to the design of homogeneous multi-robot teams in a task that requires the agents to specialise in different roles. Our results diverge from what illustrated in a previous similar comparative study, which advocates for the superiority of the aclonal versus the clonal approach. We question this argument in view of new empirical evidence showing that the two approaches perform equally well in generating homogeneous teams