**4. Experimental Set-Up**

In this section, we describe our experiments in the design of collective behaviors for robots that can display and perceive colors. The study evaluates the capabilities of TuttiFrutti to address a class of missions in which colors displayed by objects in the environment provide relevant information to the robots. In the following, we first introduce the missions we consider in our study. Then, we present EvoColor—a baseline design method that serves as a reference to appraise the complexity of the missions. Finally, at the end of the section we describe the protocol we follow to assess TuttiFrutti.
