In this paper we introduce two macro-level operators to enhance the use of population-based evolutionary computing techniques in multi-agent environments: speciation and symbiogenesis. We describe their use in conjunction with the genetic algorithm to evolve Pittsburgh-style classifier systems, where each classifier system represents an agent in a cooperative multi-agent system. The reasons for implementing these kinds of operators are discussed and we then examine their performance in developing a controller for the gait of a wall-climbing quadrupedal robot, where each leg of the quadruped is controlled by a classifier system. We find that the use of such operators can give improved performance over static population/agent configurations.
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