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Evolutionary Computation has been successfully used to synthesise controllersfor embodied agents and multi-agent systems in general. Notwithstanding this,continuous on-line adaptation by the means of evolutionary algorithms is stillunder-explored, especially outside the evolutionary robotics domain. In thispaper, we present an on-line evolutionary programming algorithm that searchesin the agent design space for the appropriate behavioural policies to cope withthe underlying environment. We discuss the current problems of continuous agentadaptation, present our on-line evolution testbed for evolutionary simulation.

Continuous On-line Evolution of Agent Behaviours with Cartesian Genetic Programming