Emergent behavior based on disparity of individual capability

We present the result of our research on the emergent behavior of heterogeneous agents in multi-agent system (MAS). We extended the commonly considered MAS for the predator prey problem (PPP), initially comprising homogeneous predator agents into heterogeneous MAS featuring predator agents with diverse sensory and moving abilities. Moreover, we evolved, via genetic programming, the behavior of these agents, and discovered the emergence of a characteristic behavior that is (i) unique to the heterogeneous systems, (ii) well specialized to fit the individual morphological features of the agents, and (iii) more efficient than that of the homogeneous agents.