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In this study, we show how novelty search can be used to avoid the counterproductive attraction to stable states in coevolution. Novelty search is an evolutionary technique that drives evolution toward behavioural novelty and diversity rather than exclusively pursuing a static objective. We evaluate three novelty-based approaches that rely on, respectively (1) the novelty of the team as a whole, (2) the novelty of the agents\u2019 individual behaviour, and (3) the combination of the two. We compare the proposed approaches with traditional fitness-driven cooperative coevolution in three simulated multirobot tasks. Our results show that team-level novelty scoring is the most effective approach, significantly outperforming fitness-driven coevolution at multiple levels. Novelty-driven cooperative coevolution can substantially increase the potential of CCEAs while maintaining a computational complexity that scales well with the number of populations. <\/jats:p>","DOI":"10.1162\/evco_a_00173","type":"journal-article","created":{"date-parts":[[2015,12,14]],"date-time":"2015-12-14T16:01:50Z","timestamp":1450108910000},"page":"275-307","source":"Crossref","is-referenced-by-count":26,"title":["Novelty-Driven Cooperative Coevolution"],"prefix":"10.1162","volume":"25","author":[{"given":"Jorge","family":"Gomes","sequence":"first","affiliation":[{"name":"Instituto de Telecomunica\u00e7\u00f5es, Lisbon, Portugal; BioMachines Lab, Lisbon, Portugal; BioISI, Faculdade de Ci\u00eancias, Universidade de Lisboa, Portugal"}]},{"given":"Pedro","family":"Mariano","sequence":"additional","affiliation":[{"name":"BioISI, Faculdade de Ci\u00eancias, Universidade de Lisboa, Portugal"}]},{"given":"Anders Lyhne","family":"Christensen","sequence":"additional","affiliation":[{"name":"Instituto de Telecomunica\u00e7\u00f5es, Lisbon, Portugal; BioMachines Lab, Lisbon, Portugal; Instituto Universit\u00e1rio de Lisboa (ISCTE-IUL), Lisbon, Portugal"}]}],"member":"281","reference":[{"key":"B1","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-20525-5_24"},{"key":"B2","volume-title":"Multi-objective optimization using evolutionary algorithms","author":"Deb K","year":"2001"},{"key":"B3","doi-asserted-by":"publisher","DOI":"10.1109\/CEC.2010.5586100"},{"key":"B4","doi-asserted-by":"publisher","DOI":"10.1109\/CEC.2013.6557731"},{"key":"B5","doi-asserted-by":"publisher","DOI":"10.1007\/s12065-014-0110-x"},{"key":"B6","doi-asserted-by":"publisher","DOI":"10.1207\/s15516709cog1402_1"},{"key":"B7","doi-asserted-by":"publisher","DOI":"10.1145\/2463372.2463398"},{"key":"B8","first-page":"1149","volume-title":"Proceedings of the International Conference on Autonomous Agents and Multiagent Systems","author":"Gomes J.","year":"2014"},{"key":"B9","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-319-10762-2_23"},{"key":"B10","doi-asserted-by":"publisher","DOI":"10.7551\/978-0-262-32621-6-ch036"},{"key":"B11","doi-asserted-by":"publisher","DOI":"10.7551\/978-0-262-33027-5-ch059"},{"key":"B12","first-page":"297","volume-title":"Proceedings of the International Conference on Autonomous Agents and Multiagent Systems","author":"Gomes J.","year":"2015"},{"key":"B13","doi-asserted-by":"publisher","DOI":"10.1145\/2739480.2754736"},{"key":"B14","doi-asserted-by":"publisher","DOI":"10.1007\/s11721-013-0081-z"},{"key":"B15","first-page":"4:1","author":"Gomes J.","year":"2014","journal-title":"International Journal of Natural Computing Research"},{"key":"B16","doi-asserted-by":"publisher","DOI":"10.1177\/105971239700500305"},{"key":"B17","doi-asserted-by":"publisher","DOI":"10.1162\/1063656043138905"},{"key":"B18","doi-asserted-by":"publisher","DOI":"10.1016\/S0166-4115(97)80111-2"},{"key":"B19","doi-asserted-by":"publisher","DOI":"10.1145\/2001576.2001708"},{"key":"B20","first-page":"329","volume-title":"Proceedings of the International Conference on Artificial Life","author":"Lehman J.","year":"2008"},{"key":"B21","doi-asserted-by":"publisher","DOI":"10.1145\/1830483.1830503"},{"key":"B22","doi-asserted-by":"publisher","DOI":"10.1162\/EVCO_a_00025"},{"key":"B23","doi-asserted-by":"publisher","DOI":"10.1145\/2001576.2001606"},{"key":"B24","doi-asserted-by":"publisher","DOI":"10.1145\/2463372.2463393"},{"key":"B25","doi-asserted-by":"publisher","DOI":"10.1162\/EVCO_a_00123"},{"key":"B26","doi-asserted-by":"publisher","DOI":"10.1177\/0037549705058073"},{"key":"B27","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-18272-3_10"},{"key":"B28","doi-asserted-by":"publisher","DOI":"10.1162\/EVCO_a_00048"},{"key":"B29","doi-asserted-by":"publisher","DOI":"10.1145\/2463372.2463505"},{"key":"B30","doi-asserted-by":"publisher","DOI":"10.1007\/978-3-642-37207-0_13"},{"key":"B31","doi-asserted-by":"publisher","DOI":"10.1007\/s10710-012-9166-5"},{"key":"B32","doi-asserted-by":"publisher","DOI":"10.1007\/s12065-009-0034-z"},{"key":"B33","first-page":"2:25","author":"Nitschke G. 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