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Active Inference in Multiagent Systems 83

Fig. 4.8 Comparison of effect of team structure on average payoff (H-active/
passive¼hierarchy with active or passive CEO). K represents increasing complexity of
decision problem. 1

Payoff for current decision 0.8 Lateral-random

Lateral-optimized
0.6
0.4
0.2
0
K1 K2 K3 K4 K5
Problem complexity (# of neighbors)
Fig. 4.9 Example of the effects of decision decomposition on the quality of a current
solution with a lateral team structure.