“…Emergent cooperation among decentralized agents is characterized by adaptable behavior, beneficial to dynamic applications, such as patrolling (Almeida et al, 2004;Portugal & Rocha 2011). Specialized agents lead to decreased interference and task switching, as well as to increased performance (Ono & Fukumoto 1996;Murciano et al 1997;Li et al, 2002;Nitschke 2008;Hsieh et al, 2009;Campbell & Wu 2011;Agmon et al, 2011;Román et al, 2014).…”