Roughly described, a computer system uses a behavior-driven algorithm that is better able to find optimum solutions to a problem by balancing the use of fitness and novelty measures in evolutionary optimization. In competition among candidate individuals, a domination estimate between a pair of individuals is determined by both their fitness estimate difference and their behavior difference relative to one another. An increase in the fitness estimate difference of one individual of the pair over the other increases the domination estimate of the first individual. An increase in the behavior distance between the pair of individuals decreases the domination estimate of both of the individuals. Individuals with a higher domination estimate are more likely to survive competitions among the candidate individuals.