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Authoritative: http://dx.doi.org/10.1007/978-3-540-74913-4_40   (Publisher's PDF... likely be available here.)

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Abstract

In this paper we describe a model in which artificial evolution is employed to design neural mechanisms that control the motion of two autonomous robots required to communicate through sound to perform a common task. The results of this work are a �proof-of-concept�: they demonstrate that evolution can exploit a very simple sound communication system, to design the mechanisms that allow the robots cooperate by employing acoustic interactions. The analysis of the evolved strategies uncover the basic properties of the communication protocol.

@inproceedings{tuci07ECAL,
  author={Elio Tuci and Christos Ampatzis},
  title={Evolution of Acoustic Communication Between Two Cooperating Robots},
  year={2007},
  pages={395-404},
  publisher={Springer},
  booktitle={ECAL07},
  doi={10.1007/978-3-540-74913-4_40},
  url={http://www.isrl.uiuc.edu/~amag/langev/paper/tuci07ECAL.html}
}