Visualization of the three successive phases in the training procedure (from left to right: <i>t</i> = 0, <i>t</i> = 2 ⋅ 10⁵, <i>t</i> = 2 ⋅ 10⁷) in a typical run.

<p>The simulation is with 200 initial agents and a single resource spot. At the start of the simulation the agents have a random motion (a), then progressively come to coordinate in a dynamic flock (b), and eventually cluster more and more closely to the goal towards the end of the simulation (c). The agents’ colors represent the signal they are producing, ranging from 0 (blue) to 1 (red). The goal location is represented as a green sphere on the visualization.