A Territorial Possession Map is a filtered view of the battlefield in which a pixel's color represents either red or blue occupancy. A site at (x,y) "belongs" to an agent (red or blue) according to the following logic: the number of like agents within a distance (t_D) is greater than or equal to minimum (t_M) and is at least threshold (t_T) number of agents greater than the number of enemy agents within the same territoriality-distance. For example, if (t_D, t_M, t_T) = (2, 3, 2) then a battlefield position (x,y) is said to belong to, say, red, if there are at least 3 red agents within a distance 2 of (x,y) and the number of red agents within that distance outnumber blue agents by at least 2.