Fig 4.

Global alignment z(t) for learning agents: (a) low density (N = 10) leads to disordered motion, (b) intermediate density (N = 40) leads to alignment with periodic switching, and (c) high density (N = 70) leads to long-term alignment. The appearance of well-defined regimes of collective dynamics is preceded by a transient learning period, during which agents’ individual behaviour is still changing. Parameters: world size W = 80, sensory range r = 5 (number of bins B = 8) and forgetting parameter γ = 0.002.