Figure 4. Coevolution of predator and prey robots.

A) The predator robot (right) facing the prey robot (left). B) Six examples of pursuit and evasion strategies that evolved over the 100 generations of selection in one of the replicates (see main text for description). The position of the prey at the end of the trial is indicated by the empty disk and that of the predator by the black disk (the lines in the disks correspond to the frontal directions).