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Authoritative: http://dx.doi.org/10.1007/11840541_65   (Publisher's PDF... likely be available here.)

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Abstract

In this paper we describe how a population of simulated robots evolved for the ability to solve a collective navigation problem develop individual and social/communication skills. In particular, we analyze the evolutionary origins of motor and signaling behaviors. Obtained results indicate that signals and the meaning of the signals produced by evolved robots are grounded not only on the robots sensory-motor system but also on robots' behavioral capabilities previously acquired. Moreover, the analysis of the co-evolution of robots individual and communicative abilities indicate how innovation in the former might create the adaptive basis for further innovations in the latter and vice versa.

@inproceedings{marocco06SAB,
  author={Davide Marocco and Stefano Nolfi},
  title={Origins of Communication in Evolving Robots},
  year={2006},
  pages={789-803},
  editor={Nolfi, S. and et al.},
  publisher={Springer Verlag},
  booktitle={SAB06},
  doi={10.1007/11840541_65},
  url={http://www.isrl.uiuc.edu/~amag/langev/paper/marocco06SAB.html}
}