The evolution of mechanisms underlying behaviour

This is the final version of the article. It first appeared from Oxford University press via http://www.scopus.com/record/display.uri?eid=2-s2.0-84925394342&origin=inward&txGid=0-This work was funded by the European Research Council (Advanced Grant 250209 to Alasdair Houston)

When less is more: Robot swarms adapt better to changes with constrained communication

To effectively perform collective monitoring of dynamic environments, a robot swarm needs to adapt to changes by processing the latest information and discarding outdated beliefs. We show that in a swarm composed of robots relying on local sensing, adaptation is better achieved if the robots have a shorter rather than longer communication range. This result is in contrast with the widespread belief that more communication links always improve the information exchange on a network. We tasked robots with reaching agreement on the best option currently available in their operating environment. We propose a variety of behaviors composed of reactive rules to process environmental and social information. Our study focuses on simple behaviors based on the voter model—a well-known minimal protocol to regulate social interactions—that can be implemented in minimalistic machines. Although different from each other, all behaviors confirm the general result: The ability of the swarm to adapt improves when robots have fewer communication links. The average number of links per robot reduces when the individual communication range or the robot density decreases. The analysis of the swarm dynamics via mean-field models suggests that our results generalize to other systems based on the voter model. Model predictions are confirmed by results of multiagent simulations and experiments with 50 Kilobot robots. Limiting the communication to a local neighborhood is a cheap decentralized solution to allow robot swarms to adapt to previously unknown information that is locally observed by a minority of the robots

Change and Aging Senescence as an adaptation

Understanding why we age is a long-lived open problem in evolutionary biology. Aging is prejudicial to the individual and evolutionary forces should prevent it, but many species show signs of senescence as individuals age. Here, I will propose a model for aging based on assumptions that are compatible with evolutionary theory: i) competition is between individuals; ii) there is some degree of locality, so quite often competition will between parents and their progeny; iii) optimal conditions are not stationary, mutation helps each species to keep competitive. When conditions change, a senescent species can drive immortal competitors to extinction. This counter-intuitive result arises from the pruning caused by the death of elder individuals. When there is change and mutation, each generation is slightly better adapted to the new conditions, but some older individuals survive by random chance. Senescence can eliminate those from the genetic pool. Even though individual selection forces always win over group selection ones, it is not exactly the individual that is selected, but its lineage. While senescence damages the individuals and has an evolutionary cost, it has a benefit of its own. It allows each lineage to adapt faster to changing conditions. We age because the world changes.Comment: 19 pages, 4 figure

Swarm Intelligence in Animal Groups: When Can a Collective Out-Perform an Expert?

An important potential advantage of group-living that has been mostly neglected by life scientists is that individuals in animal groups may cope more effectively with unfamiliar situations. Social interaction can provide a solution to a cognitive problem that is not available to single individuals via two potential mechanisms: (i) individuals can aggregate information, thus augmenting their ‘collective cognition’, or (ii) interaction with conspecifics can allow individuals to follow specific ‘leaders’, those experts with information particularly relevant to the decision at hand. However, a-priori, theory-based expectations about which of these decision rules should be preferred are lacking. Using a set of simple models, we present theoretical conditions (involving group size, and diversity of individual information) under which groups should aggregate information, or follow an expert, when faced with a binary choice. We found that, in single-shot decisions, experts are almost always more accurate than the collective across a range of conditions. However, for repeated decisions – where individuals are able to consider the success of previous decision outcomes – the collective's aggregated information is almost always superior. The results improve our understanding of how social animals may process information and make decisions when accuracy is a key component of individual fitness, and provide a solid theoretical framework for future experimental tests where group size, diversity of individual information, and the repeatability of decisions can be measured and manipulated

Heterogeneous Aspirations Promote Cooperation in the Prisoner's Dilemma Game

To be the fittest is central to proliferation in evolutionary games. Individuals thus adopt the strategies of better performing players in the hope of successful reproduction. In structured populations the array of those that are eligible to act as strategy sources is bounded to the immediate neighbors of each individual. But which one of these strategy sources should potentially be copied? Previous research dealt with this question either by selecting the fittest or by selecting one player uniformly at random. Here we introduce a parameter that interpolates between these two extreme options. Setting equal to zero returns the random selection of the opponent, while positive favor the fitter players. In addition, we divide the population into two groups. Players from group select their opponents as dictated by the parameter , while players from group do so randomly irrespective of . We denote the fraction of players contained in groups and by and , respectively. The two parameters and allow us to analyze in detail how aspirations in the context of the prisoner's dilemma game influence the evolution of cooperation. We find that for sufficiently positive values of there exist a robust intermediate for which cooperation thrives best. The robustness of this observation is tested against different levels of uncertainty in the strategy adoption process and for different interaction networks. We also provide complete phase diagrams depicting the dependence of the impact of and for different values of , and contrast the validity of our conclusions by means of an alternative model where individual aspiration levels are subject to evolution as well. Our study indicates that heterogeneity in aspirations may be key for the sustainability of cooperation in structured populations

Kin Selection and the Evolution of Social Information Use in Animal Conflict

Animals often use social information about conspecifics in making decisions about cooperation and conflict. While the importance of kin selection in the evolution of intraspecific cooperation and conflict is widely acknowledged, few studies have examined how relatedness influences the evolution of social information use. Here we specifically examine how relatedness affects the evolution of a stylised form of social information use known as eavesdropping. Eavesdropping involves individuals escalating conflicts with rivals observed to have lost their last encounter and avoiding fights with those seen to have won. We use a game theoretical model to examine how relatedness affects the evolution of eavesdropping, both when strategies are discrete and when they are continuous or mixed. We show that relatedness influences the evolution of eavesdropping, such that information use peaks at intermediate relatedness. Our study highlights the importance of considering kin selection when exploring the evolution of complex forms of information use

Network Homophily and the Evolution of the Pay-It-Forward Reciprocity

The pay-it-forward reciprocity is a type of cooperative behavior that people who have benefited from others return favors to third parties other than the benefactors, thus pushing forward a cascade of kindness. The phenomenon of the pay-it-forward reciprocity is ubiquitous, yet how it evolves to be part of human sociality has not been fully understood. We develop an evolutionary dynamics model to investigate how network homophily influences the evolution of the pay-it-forward reciprocity. Manipulating the extent to which actors carrying the same behavioral trait are linked in networks, the computer simulation model shows that strong network homophily helps consolidate the adaptive advantage of cooperation, yet introducing some heterophily to the formation of network helps advance cooperation's scale further. Our model enriches the literature of inclusive fitness theory by demonstrating the conditions under which cooperation or reciprocity can be selected for in evolution when social interaction is not confined exclusively to relatives

Action planning and the timescale of evidence accumulation

Perceptual decisions are based on the temporal integration of sensory evidence for different states of the outside world. The timescale of this integration process varies widely across behavioral contexts and individuals, and it is diagnostic for the underlying neural mechanisms. In many situations, the decision-maker knows the required mapping between perceptual evidence and motor response (henceforth termed “sensory-motor contingency”) before decision formation. Here, the integrated evidence can be directly translated into a motor plan and, indeed, neural signatures of the integration process are evident as build-up activity in premotor brain regions. In other situations, however, the sensory-motor contingencies are unknown at the time of decision formation. We used behavioral psychophysics and computational modeling to test if knowledge about sensory-motor contingencies affects the timescale of perceptual evidence integration. We asked human observers to perform the same motion discrimination task, with or without trial-to-trial variations of the mapping between perceptual choice and motor response. When the mapping varied, it was either instructed before or after the stimulus presentation. We quantified the timescale of evidence integration under these different sensory-motor mapping conditions by means of two approaches. First, we analyzed subjects’ discrimination threshold as a function of stimulus duration. Second, we fitted a dynamical decision-making model to subjects’ choice behavior. The results from both approaches indicated that observers (i) integrated motion information for several hundred ms, (ii) used a shorter than optimal integration timescale, and (iii) used the same integration timescale under all sensory-motor mappings. We conclude that the mechanisms limiting the timescale of perceptual decisions are largely independent from long-term learning (under fixed mapping) or rapid acquisition (under variable mapping) of sensory-motor contingencies. This conclusion has implications for neurophysiological and neuroimaging studies of perceptual decision-making

Negative updating applied to the best-of-n problem with noisy qualities

The ability to perform well in the presence of noise is an important consideration when evaluating the effectiveness of a collective decision-making framework. Any system deployed for real-world applications will have to perform well in complex and uncertain environments, and a component of this is the limited reliability and accuracy of evidence sources. In particular, in swarm robotics there is an emphasis on small and inexpensive robots which are often equipped with low-cost sensors more prone to suffer from noisy readings. This paper presents an exploratory investigation into the robustness of a negative updating approach to the best-of-n problem which utilises negative feedback from direct pairwise comparison of options and opinion pooling. A site selection task is conducted with a small-scale swarm of five e-puck robots choosing between n= 7 options in a semi-virtual environment with varying levels of sensor noise. Simulation experiments are then used to investigate the scalability of the approach. We now vary the swarm size and observe the behaviour as the number of options n increases for different error levels with different pooling regimes. Preliminary results suggest that the approach is robust to noise in the form of noisy sensor readings for even small populations by supporting self-correction within the population

Symmetry breaking in mass-recruiting ants: extent of foraging biases depends on resource quality

The communication involved in the foraging behaviour of social insects is integral to their success. Many ant species use trail pheromones to make decisions about where to forage. The strong positive feedback caused by the trail pheromone is thought to create a decision between two or more options. When the two options are of identical quality, this is known as symmetry breaking, and is important because it helps colonies to monopolise food sources in a competitive environment. Symmetry breaking is thought to increase with the quantity of pheromone deposited by ants, but empirical studies exploring the factors affecting symmetry breaking are limited. Here, we tested if (i) greater disparity between two food sources increased the degree to which a higher quality food source is favoured and (ii) if the quality of identical food sources would affect the degree of symmetry breaking that occurs. Using the mass-recruiting Pharaoh ant, Monomorium pharaonis, we carried out binary choice tests to investigate how food quality affects the choice and distribution of colony foraging decisions. We found that colonies could coordinate foraging to exploit food sources of greater quality, and a greater contrast in quality between the food sources created a stronger collective decision. Contrary to prediction, we found that symmetry breaking decreased as the quality of two identical food sources increased. We discuss how stochastic effects might lead to relatively strong differences in the amount of pheromone on alternative routes when food source quality is low. Significance statement: Pheromones used by social insects should guide a colony via positive feedback to distribute colony members at resources in the most adaptive way given the current environment. This study shows that when food resources are of equal quality, Pharaoh ant foragers distribute themselves more evenly if the two food sources are both of high quality compared to if both are of low quality. The results highlight the way in which individual ants can modulate their response to pheromone trails which may lead colonies to exploiting resources more evenly when in a resource rich environment