**5. Results and Discussion**

We present the qualitative and quantitative analysis of the results obtained with TuttiFrutti and EvoColor. We discuss first the behavior and performance of the swarms on a per-mission basis. Then, we elaborate on the aggregate performance across the three missions. In the end, we address the research questions presented in Section 1 and we discuss our findings. The code, control software and demonstrative videos are provided as Supplementary Material [67]. In the context of these results, references to colored robots imply that the robots display the named color—for example, *"cyan robots"* stands for robots that display the color cyan.
