Experiment 02 · fixed 24×24 world
Team-size sweep @ 24²
Holds the 24×24 world fixed and grows the team from 4 to 12 agents, comparing the
homogeneous shared policy against the learned skill-selector variants — the question being whether
extra agents divide the labor or simply flood the same map with redundant coverage.
Key finding
The homogeneous shared policy scales up with the team and leads at 9–12 agents,
while the congestion-priced skill-selector variants fall off as the team grows. Total coverage
rises with more agents, but the gain is sub-linear — consistent with added agents increasing
redundancy rather than cleanly partitioning the map.