Table 1. Overview of parameters describing the environment and the agents, along with numerical values used in simulations.

Environment parameters
W = 80	world size (in unit steps)
r = 5	sensory range (in unit steps)
B ≡ W/2r	number of non-overlapping neighbourhoods
N ∈ {10, 40, 70}	population size
Agent parameters
d ∈ {1, 5, 30}	decisiveness (in Eq (3), for non-learning agents)
γ ∈ {0, 0.002}	forgetting (only for learning agents)