Homogenous Environment

No tradeoffs are meant to be illustrated here. The sensor radii are all uniform. Illustrated, rather, are effects of some disjunctive control parameters.

Common Properties

Area = 250x250 field

radius of worm head = 5 pixels

number of worms = 50

worm speed = 2.5 pixels per iteration

field decay = 0.99

1. No Constraints: Straight
2. Randomness Constraint

RV = 0.5

3. Replusion

RP = 3; NRR = 5

4. Wall Avoidance

WA = 1; NR = 4;

5. All of the above
6. Different Parameters

RV=0.4;RP=3;NRR=5;WA=1;NR=4;