“…Sometimes the basis for the cooperation is to obtain the maximum reward for the system as a whole. Task decomposition strategies have been implemented by means of ant colony optimization (ACO) [28,39,194,196] or reinforcement learning paradigms [9,53,74,103,167,178,195]. On the other hand, the competitive approach is applied mainly when the roles of other environmental elements are taken into account as in robot soccer [9,54,75,83,167], or when the system is inspired on a general multi-agent approach [74,106].…”