% This file was created with JabRef 2.10.

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@InProceedings{akdemir2011emerging,
Title
= {An emerging threat: eve meets a robot},
Author
= {Akdemir, Kahraman D and Karakoyunlu, Deniz and Pad
ir, Taskin and Sunar, Berk},
Booktitle
= {Trusted Systems},
Year
= {2011},
Pages
= {271--289},
Publisher
= {Springer},
__markedentry
= {[Florian:5]},
Abstract
= {In this work, we study the emerging security threa
ts in a
quickly proliferating eld: robotics. The next generation robots embody
most of the networking and computing components we normally use for
everyday computing. Thus, the next generation robots virtually inherit
all of the security weaknesses we are struggling with today. To make
things worse, vulnerabilities in robots are much more signi cant, as they
physically interact with their surroundings which include human beings.
In this paper, we rst provide a classi cation of potential physical attacks
on robots. In addition, we outline a concrete active attack and propose
a countermeasure.},
File
= {:papers\\2011_An Emerging Threat\; Eve Meets a Rob
ot.pdf:PDF},
Keywords
= {Side-channel attacks, fault injection, information
leakage, countermeasures, robotics},
Review
= {An Emerging Threat: Eve Meets a Robot
(Work-in-Progress)
Kahraman D. Akdemir, Deniz Karakoyunlu, Taskin Padir, and Berk Sunar
Department of Electrical and Computer Engineering, Worcester Polytechnic Institu
te,
100 Institute Road, Worcester, MA 01609, USA
{kahraman,deniz,tpadir,sunar}@wpi.edu
Abstract. In this work, we study the emerging security threats in a
quickly proliferating eld: robotics. The next generation robots embody
most of the networking and computing components we normally use for
everyday computing. Thus, the next generation robots virtually inherit
all of the security weaknesses we are struggling with today. To make
things worse, vulnerabilities in robots are much more signi cant, as they
physically interact with their surroundings which include human beings.
In this paper, we rst provide a classi cation of potential physical attacks
on robots. In addition, we outline a concrete active attack and propose
a countermeasure.
Keywords: Side-channel attacks, fault injection, information leakage,
countermeasures, robotics.
1 Introduction
Since the development of the rst modern operating systems and computer networks we have witnessed the discovery of numerous vulnerabilities and security issues. We are accustomed to attacks targeting platforms at the operating

system, network or at the implementation levels. For example, viruses, worms,

malware, privilege escalation attacks, denial-of-service attacks, intrusion, SQL
injection, re-routing, cold-boot attacks, side-channel attacks, manufacturer attacks etc. are commonly known types of attacks. These attacks target essentially
all components of the greater network, ranging from high end platforms such as
desktops, laptops, pay-tv-boxes, gaming platforms, to low-end devices such as
netbooks, cell-phones, RFIDs, and internet enabled embedded devices. What is
common to all of these platforms is that the harm done in an attack is isolated
to loss of service or of digital data, or nancial loss or to the violation of the
individuals privacy. Only on rare occasions such attacks may escalate to a life
threatening situation. For instance, a number of such attacks have appeared recently that target medical devices (e.g., see [14]). While such attacks are fair
ly
limited, these studies have drawn a signi cant level of attention from both researchers and the public primarily due to the direct harm in icted on humans.
L. Chen and M. Yung (Eds.): INTRUST 2010, LNCS 6802, pp. 271289, 2011.
c Springer-Verlag Berlin Heidelberg 2011}
}
@Article{alami1998multi,
Title
= {Multi-robot cooperation in the MARTHA project},
Author
= {Alami, Rachid and Fleury, Sara and Herrb, Matthieu
and Ingrand, F{\ e}lix and Robert, Fr{\ e}d{\ e}ric},
Journal
= {Robotics \& Automation Magazine, IEEE},
Year
= {1998},
Number
= {1},
Pages
= {36--47},
Volume
= {5},
__markedentry
File
A project.pdf:PDF},
Publisher
}

= {[Florian:1]},
= {:papers\\1998_Multi-robot cooperation in the MARTH
= {IEEE}

@Article{ampatzis2008evolution,
Title
= {Evolution of signaling in a multi-robot system: Ca
tegorization and communication},
Author
= {Ampatzis, Christos and Tuci, Elio and Trianni, Vit
o and Dorigo, Marco},
Journal
= {Adaptive Behavior},
Year
= {2008},
Number
= {1},
Pages
= {5--26},
Volume
= {16},
__markedentry
= {[Florian:]},
File
= {:papers\\2008_Evolution of signaling in a multi-ro
bot system\; Categorization and communication.pdf:PDF},
Publisher
= {SAGE Publications}
}
@InProceedings{ampatzis2005evolving,
Title
= {Evolving communicating agents that integrate infor
mation over time: a real robot experiment},
Author
= {Ampatzis, Christos and Tuci, Elio and Trianni, Vit
o and Dorigo, Marco},
Booktitle
= {CD-ROM Proceedings of the 7th International Confer
ence on Artificial Evolution (EA 2005)},

Year
Organization

= {2005},
= {Springer},

__markedentry
= {[Florian:]},
File
= {:papers\\2005_Evolving communicating agents that i
ntegrate information over time a real robot experiment.pdf:PDF}
}
@InProceedings{arkin2002line,
Title
= {Line-of-sight constrained exploration for reactive
multiagent robotic teams},
Author
= {Arkin, Ronald C and Diaz, Jonathan},
Booktitle
= {Advanced Motion Control, 2002. 7th International W
orkshop on},
Year
= {2002},
Organization
= {IEEE},
Pages
= {455--461},
__markedentry
= {[Florian:3]},
File
= {:papers\\2002_Line-of-sight constrained exploratio
n for reactive multiagent robotic teams.pdf:PDF}
}
@Article{balch1994communication,
Title
= {Communication in reactive multiagent robotic syste
ms},
Author
= {Balch, Tucker and Arkin, Ronald C},
Journal
= {Autonomous Robots},
Year
= {1994},
Number
= {1},
Pages
= {27--52},
Volume
= {1},
__markedentry
= {[Florian:1]},
File
= {:papers\\1994_Communication in Reactive Multiagent
Robotic Systems.pdf:PDF},
Publisher
= {Springer}
}
@Article{baldassarre2006distributed,
Title
= {Distributed coordination of simulated robots based
on self-organization},
Author
= {Baldassarre, Gianluca and Parisi, Domenico and Nol
fi, Stefano},
Journal
= {Artificial Life},
Year
= {2006},
Number
= {3},
Pages
= {289--311},
Volume
= {12},
__markedentry
Publisher

= {[Florian:4]},
= {MIT Press}

}
@Article{bredeche2012environment,
Title
= {Environment-driven distributed evolutionary adapta
tion in a population of autonomous robotic agents},
Author
= {Bredeche, Nicolas and Montanier, Jean-Marc and Liu
, Wenguo and Winfield, Alan FT},
Journal
= {Mathematical and Computer Modelling of Dynamical S

ystems},
Year
Number
Pages
Volume

=
=
=
=

{2012},
{1},
{101--129},
{18},

__markedentry
= {[Florian:]},
File
= {:papers\\2011_Environment-driven Distributed Evolu
tionary Adaptation in a Population of Autonomous Robotic Agents.pdf:PDF},
Keywords
= {Evolutionary Adaptation, Robotic Swarm, Online Dis
tributed learning, Artificial Evolution, Implicit fitness, Evolutionary Robotics
, Robustness to Environmental Changes, Emergence of Consensus},
Publisher
= {Taylor \& Francis},
Review
= {December 18, 2010 23:0 Mathematical and Computer M
odelling of Dynamical Systems medeajournal-final
Author manuscript, published in "Mathematical and Computer Modelling of Dynamica
l Systems (2011)"
Mathematical and Computer Modelling of Dynamical Systems
Vol. 00, No. 00, Month 200x, 127
RESEARCH ARTICLE
Environment-driven Distributed Evolutionary Adaptation
in a Population of Autonomous Robotic Agents
Nicolas Bredechea, , Jean-Marc Montaniera, Wenguo Liub and Alan F.T. Winfieldb
aTAO - Univ. Paris-Sud, INRIA, CNRS - F-91405 Orsay, France; bBristol Robotics
Laboratory, University of the West of England, Bristol, UK, BS16 1QY.
(Received 00 Month 200x; final version received 00 Month 200x)
This paper is concerned with a fixed-size population of autonomous agents facing
unknown,
possibly changing, environments. The motivation is to design an embodied evoluti
onary algorithm that can cope with the implicit fitness function hidden in the environme
nt so as to
provide adaptation in the long run at the level of the population. The proposed
algorithm,
termed mEDEA, is shown to be both efficient in an unknown environment and robust
to
abrupt and unpredicted changes in the environment. The emergence of consensus to
wards
specific behavioural strategies is examined, with a particular focus on algorith
mic stability.
To conclude the paper a real world implementation of the algorithm in a populati
on of 20
real-world e-puck robots is described and the algorithm is shown to perform rema
rkably well
in the face of environmental constraints and technical issues.
Keywords: Evolutionary Adaptation, Robotic Swarm, Online Distributed learning,
Artificial Evolution, Implicit fitness, Evolutionary Robotics, Robustness to Env
ironmental
Changes, Emergence of Consensus.

AMS Subject Classification: 68-99, 68T01, 68T40, 68W15, 68W25, 93C40

1. Introduction
With the advent of reliable and powerful software and hardware at reasonable cos
t,
it is now possible to study the dynamics of large groups of autonomous agents
within various environments. Indeed, much work has already addressed the issue
of designing efficient adaptive behavioral strategies in populations of agents,
with
very different approaches and motivations [6, 33]. One particularly interesting
scenario is a population of robotic units that are immersed in a completely unknown
environment, yet still manage to survive, then moved into a different environmen
t
requiring very different behavioural strategies. In this paper we are interested
in
a fixed-size population of autonomous physical agents using local communication,
such as autonomous robots, facing unknown and/or dynamic environments. This
class of problems typically applies when the environment is unknown to the human
designer until the population of agents is actually made operational in the real
situation [1], or whenever the environment is expected to change during operation
with no indication of when and how these changes will impact survival strategies
.
The challenge is to design a distributed online optimisation algorithm addressin
g
agent self-adaptation in the long term, that is able to successfully manage an i
mplicit pressure resulting from environmental properties and algorithmic constrai
nts
with regard to the optimisation process. While the lack of explicit objective fu
ncCorresponding author. Email: bredeche@lri.fr
ISSN: 1387-3954 print/ISSN 1744-5051 online
c 200x Taylor & Francis
DOI: 10.1080/1387395YYxxxxxxxx
http://www.informaworld.com
inria-00531450, version 1 - 17 Feb 2011}
}
@InProceedings{Chai6858,
Title
Author
Year
__markedentry
File
Review

= {6.858: Hacking Bluetooth},

= {Elaina Chai and Ben Deardorff and Cathy Wu},
= {2012},
= {[Florian:5]},
= {:papers\\2012_6.858 Hacking Bluetooth.pdf:PDF},
= {6.858: Hacking Bluetooth

Elaina Chai Ben Deardorff Cathy Wu

echai@mit.edu bendorff@mit.edu cathywu@mit.edu
09 December 2012
Abstract

After learning about and analyzing the security of Bluetooth, it was clear to
us that Bluetooth sniffing tools are still substandard compared to those availab
le
for sniffing other types of wireless traffic like WiFi. This makes it harder for
hackers to develop exploits for Bluetooth devices but also makes it more difficult f
or
security researchers to realistically evaluate Bluetooth security. We decided th
at
the best way to address this problem is to continue development of the software
for the Ubertooth module, currently the most cost effective hardware device for
sniffing Bluetooth packets. In this paper, we highlight the fact that Bluetooth
is
a widespread technology with real privacy and security implications. Furthermore
,
we explore the current capabilities of using inexpensive open source software an
d
hardware to examine data from arbitrary Bluetooth devices. We have also implemented piconet following in the Kismet-Ubertooth plugin, making it an even more
effective tool for future researchers in this area. Our implementation can be fo
und
at https://github.com/cathywu/6858-kismet-ubertooth.
1}
}
@InCollection{cianci2007communication,
Title
= {Communication in a swarm of miniature robots: The
e-puck as an educational tool for swarm robotics},
Author
= {Cianci, Christopher M and Raemy, Xavier and Pugh,
Jim and Martinoli, Alcherio},
Booktitle
= {Swarm Robotics},
Publisher
= {Springer},
Year
= {2007},
Pages
= {103--115},
__markedentry
= {[Florian:]},
File
= {:papers\\2007_Communication in a swarm of miniatur
e robots The e-puck as an educational tool for swarm robotics.pdf:PDF}
}
@InCollection{ferrante2013socially,
Title
= {Socially-mediated negotiation for obstacle avoidan
ce in collective transport},
Author
= {Ferrante, Eliseo and Brambilla, Manuele and Biratt
ari, Mauro and Dorigo, Marco},
Booktitle
= {Distributed Autonomous Robotic Systems},
Publisher
= {Springer},
Year
= {2013},
Pages
= {571--583},
__markedentry
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File
= {:papers\\2013_Socially-mediated negotiation for ob
stacle avoidance in collective transport.pdf:PDF}
}
@Article{Floreano2007,
Title
nication in Robots},

= {Evolutionary Conditions for the Emergence of Commu

Author
e and Keller, Laurent},
Journal
Year
Month
Number
Pages
Volume

= {Floreano, Dario and Mitri, Sara and Magnenat, St

phan

= {Current Biology},
= {2007},
=
=
=
=

{Mar},
{6},
{514519},
{17},

__markedentry
= {[Florian:1]},
Doi
= {10.1016/j.cub.2007.01.058},
File
= {:papers\\2007_Evolutionary_Conditions_for_the_Emer
gence_of_Communication_in_Robots.pdf:PDF},
ISSN
= {0960-9822},
Publisher
= {Elsevier BV},
Url
= {http://dx.doi.org/10.1016/j.cub.2007.01.058}
}
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Title
tanalysis.},
Author
Journal
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Volume
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= {RSA Key Extraction via Low-Bandwidth Acoustic Cryp

=
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{Genkin, Daniel and Shamir, Adi and Tromer, Eran},

{IACR Cryptology ePrint Archive},
{2013},
{857},
{2013},

= {[Florian:]}

}
@Article{Gerkey2002,
Title
},
Author
Journal
Year
Month
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Volume
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Doi
File
t Coordination.pdf:PDF},
ISSN
Publisher
IEEE)},
Url
}

= {Sold!: auction methods for multirobot coordination

= {Gerkey, B.P. and Mataric, M.J.},
= {IEEE Transactions on Robotics and Automation},
= {2002},
=
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{Oct},
{5},
{758768},
{18},

= {[Florian:4]},
= {10.1109/tra.2002.803462},
= {:papers\\2002_Sold\; Auction Methods for Multirobo
= {1042-296X},
= {Institute of Electrical \& Electronics Engineers (
= {http://dx.doi.org/10.1109/TRA.2002.803462}

@InProceedings{gross2004group,
Title
= {Group transport of an object to a target that only
some group members may sense},
Author
= {Gro{\ss}, Roderich and Dorigo, Marco},
Booktitle
= {Parallel Problem Solving from Nature-PPSN VIII},
Year
= {2004},
Organization
= {Springer},

Pages

= {852--861},

__markedentry
= {[Florian:1]},
File
= {:papers\\2004_Group transport of an object to a ta
rget that only some group members may sense.pdf:PDF}
}
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Title
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collective systems},
Author
= {Haasdijk, Evert and Eiben, AE and Winfield, Alan F
T},
Year
= {2013},
__markedentry
= {[Florian:4]},
File
= {:papers\\2013_Individual, Social and Evolutionary
Adaptation in Collective Systems.pdf:PDF},
Publisher
= {Pan Stanford},
Review
= {Not sure how to incorporate in article Large parts
are more conceptual}
}
@TechReport{Higgins2008a,
Title
Author
in},
Year
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File
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Review
Robotics

= {Security Challenges for Swarm Robotics},

= {Fiona Higgins and Allan Tomlinson and Keith M.Mart
= {2008},
= {Report},
= {[Florian:5]},
= {:papers\\2008_Security Challenges for Swarm Roboti
= {Security Challenges for Swarm

Fiona Higgins, Allan Tomlinson and Keith M.Martin

Technical Report
RHUL-MA-2008-19
October 2008
Department of Mathematics
Royal Holloway, University of London
Egham, Surrey TW20 0EX, England
http://www.rhul.ac.uk/mathematics/techreports}
}
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Title
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Author
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d Garrett, Michael and Joshi, Shirish S. and Schenker, Paul S},
Journal
= {Systems, Man and Cybernetics, Part A: Systems and
Humans, IEEE Transactions on},
Year
= {2003},
Number
= {5},
Pages
= {550--559},

Volume

= {33},

__markedentry
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File
= {:papers\\2003_CAMPOUT A control architecture for t
ightly coupled coordination of multirobot systems for planetary surface explorat
ion.pdf:PDF},
Publisher
= {IEEE}
}
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@Book{kernbach2008structural,
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Author
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Publisher
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Year
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}
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hms and experiments},
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= {Kim, H},
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Doi
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File
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obots algorithms and experiments.pdf:PDF},
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Publisher
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Url
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}
@Article{DBLP:journals/corr/abs-1109-3617,
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Author
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Journal
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Year
= {2011},

Volume

= {abs/1109.3617},

__markedentry
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Bibsource
= {dblp computer science bibliography, http://dblp.or
g},
Biburl
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-1109-3617},
File
= {:papers\\2011_IR-based Communication and Perceptio
n in Microrobotic Swarms.pdf:PDF},
Review
= {description evolution sim real platform com_type c
om_medium task},
Timestamp
= {Tue, 23 Sep 2014 14:33:20 +0200},
Url
= {http://arxiv.org/abs/1109.3617}
}
@InProceedings{kornienko2005collective,
Title
= {Collective AI: context awareness via communication
},
Author
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ul},
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Year
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Pages
= {1464--1470},
Volume
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__markedentry
File
a communication.pdf:PDF}
}

= {[Florian:1]},
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@InProceedings{kornienko2007real,
Title
= {From real robot swarm to evolutionary multi-robot
organism},
Author
= {Kornienko, Sergey and Kornienko, Olga and Nagarath
inam, A and Levi, Paul},
Booktitle
= {Evolutionary Computation, 2007. CEC 2007. IEEE Con
gress on},
Year
= {2007},
Organization
= {IEEE},
Pages
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__markedentry
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File
= {:papers\\2007_From real robot swarm to evolutionar
y multi-robot organism.pdf:PDF}
}
@InProceedings{lee2007comparative,
Title
= {A comparative study of wireless protocols: Bluetoo
th, UWB, ZigBee, and Wi-Fi},
Author
= {Lee, Jin-Shyan and Su, Yu-Wei and Shen, Chung-Chou
},
Booktitle
= {Industrial Electronics Society, 2007. IECON 2007.
33rd Annual Conference of the IEEE},
Year
= {2007},
Organization
= {IEEE},
Pages
= {46--51},
__markedentry
= {[Florian:4]},
Abstract
= {Bluetooth (over IEEE 802.15.1), ultra-wideband On
the other hand, for accessing networks and services

(UWB, over IEEE 802.15.3), ZigBee (over IEEE 802.15.4), and without cables, wire
less communications is a fast-growing
Wi-Fi (over IEEE 802.11) are four protocol standards for shortrange wireless communications with low power consumption. technology to provide
the flexibility and mobility [3].
From an application point of view, Bluetooth is intended for a Obviously, reduci
ng the cable restriction is one of the benefits
cordless mouse, keyboard, and hands-free headset, UWB is of wireless with respec
t to cabled devices. Other benefits
oriented to high-bandwidth multimedia links, ZigBee is designed include the dyna
mic network formation, low cost, and easy
for reliable wirelessly networked monitoring and control deployment. General spe
aking, the short-range wireless scene
networks, while Wi-Fi is directed at computer-to-computer
connections as an extension or substitution of cabled networks. In is currently
held by four protocols: the Bluetooth, and UWB,
this paper, we provide a study of these popular wireless ZigBee, and Wi-Fi, whic
h are corresponding to the IEEE
communication standards, evaluating their main features and 802.15.1, 802.15.3,
802.15.4, and 802.11a/b/g standards,
behaviors in terms of various metrics, including the transmission respectively.
IEEE defines the physical (PHY) and MAC
time, data coding efficiency, complexity, and power consumption. layers for wire
less communications over an action range
It is believed that the comparison presented in this paper would
benefit application engineers in selecting an appropriate protocol. around 10-10
0 meters. For Bluetooth and Wi-Fi, Ferro and },
File
= {:papers\\2007_A Comparative Study of wireless prot
ocols Bluetooth, UWB, ZigBee, and Wi-Fi.pdf:PDF},
Review
= {The 33rd Annual Conference of the IEEE Industrial
Electronics Society (IECON)
Nov. 5-8, 2007, Taipei, Taiwan
A Comparative Study of Wireless Protocols:
Bluetooth, UWB, ZigBee, and Wi-Fi
Jin-Shyan Lee, Yu-Wei Su, and Chung-Chou Shen
Information & Communications Research Labs
Industrial Technology Research Institute (ITRI)
Hsinchu, Taiwan
jinshyan_lee@itri.org.tw

Abstract Bluetooth (over IEEE 802.15.1), ultra-wideband On the other hand, for ac
cessing networks and services
(UWB, over IEEE 802.15.3), ZigBee (over IEEE 802.15.4), and without cables, wire
less communications is a fast-growing
Wi-Fi (over IEEE 802.11) are four protocol standards for shortrange wireless communications with low power consumption. technology to provide
the flexibility and mobility [3].
From an application point of view, Bluetooth is intended for a Obviously, reduci
ng the cable restriction is one of the benefits
cordless mouse, keyboard, and hands-free headset, UWB is of wireless with respec
t to cabled devices. Other benefits
oriented to high-bandwidth multimedia links, ZigBee is designed include the dyna

mic network formation, low cost, and easy

for reliable wirelessly networked monitoring and control deployment. General spe
aking, the short-range wireless scene
networks, while Wi-Fi is directed at computer-to-computer
connections as an extension or substitution of cabled networks. In is currently
held by four protocols: the Bluetooth, and UWB,
this paper, we provide a study of these popular wireless ZigBee, and Wi-Fi, whic
h are corresponding to the IEEE
communication standards, evaluating their main features and 802.15.1, 802.15.3,
802.15.4, and 802.11a/b/g standards,
behaviors in terms of various metrics, including the transmission respectively.
IEEE defines the physical (PHY) and MAC
time, data coding efficiency, complexity, and power consumption. layers for wire
less communications over an action range
It is believed that the comparison presented in this paper would
benefit application engineers in selecting an appropriate protocol. around 10-10
0 meters. For Bluetooth and Wi-Fi, Ferro and
Potorti [4] compared their main features and behaviors in terms
Index Terms Wireless protocols, Bluetooth, ultra-wideband of various metrics, inc
luding capacity, network topology,
(UWB), ZigBee, Wi-Fi, short-range communications.
security, quality of service support, and power consumption. In
[5], Wang et al. compared the MAC of IEEE 802.11e and
I. INTRODUCTION IEEE 802.15.3. Their results showed that the throughput
difference between them is quite small. In addition, the power
In the past decades, factory automation has been developed management of 802.15.
3 is easier than that of 802.11e. For
worldwide into a very attractive research area. It incorporates ZigBee and Bluet
ooth, Baker [6] studied their strengths and
different modern disciplines including communication, weaknesses for industrial
applications, and claimed that
information, computer, control, sensor, and actuator ZigBee over 802.15.4 protoc
ol can meet a wider variety of real
engineering in an integrated way, leading to new solutions, industrial needs tha
n Bluetooth due to its long-term battery
better performance and complete systems. One of the operation, greater useful ra
nge, flexibility in a number of
increasingly important components in factory automation is the dimensions, and r
eliability of the mesh networking architecture.
industrial communication [1]. For interconnection purposes, a In this paper, aft
er an overview of the mentioned four shortfactory automation system can be combined with various range wireless protocols,
we attempt to make a preliminary
sensors, controllers, and heterogeneous machines using a comparison of them and
then specifically study their
common message specification. Many different network types transmission time, da
ta coding efficiency, protocol complexity,
have been promoted for use on a shop floor, including control and power consumpt
ion. The rest of this paper is organized as
area network (CAN), Process fieldbus (Profibus), Modbus, and follows. Section II
briefly introduces the wireless protocols
so on. However, how to select a suitable network standard for a including Blueto
oth, UWB, ZigBee, and Wi-Fi. Next, a
particular application is a critical issue to the industrial comprehensive evalu
ation of them is described in Section III.

engineers. Lain et al. [2] evaluated the Ethernet (carrier sense Then, in Sectio
n IV, the complexity and power consumption
multiple access with collision detection, CSMA/CD bus), are compared based on IE
EE standards and commercial offControlNet (token-passing bus), and DeviceNet (CSMA with the-shelf wireless prod
ucts, respectively. Finally, Section V
arbitration on message priority, CSMA/AMP bus) for concludes this paper.
networked control applications. After a detailed discussion of
the medium access control (MAC) sublayer protocol for each
network, they studied the key parameters of the corresponding II. WIRELESS PROTO
COLS
network when used in a control situation, including network This section introdu
ces the Bluetooth, UWB, ZigBee, and
utilization and time delays. Wi-Fi protocols, which corresponds to the IEEE 802.
15.1,
1-4244-0783-4/07/$20.00 2007 IEEE 46}
}
@Article{mataric1996challenges,
Title
= {Challenges in evolving controllers for physical ro
bots},
Author
= {Matari{\ c}, Maja and Cliff, Dave},
Journal
= {Robotics and autonomous systems},
Year
= {1996},
Number
= {1},
Pages
= {67--83},
Volume
= {19},
__markedentry
= {[Florian:]},
File
= {:papers\\1996_Challenges in evolving controllers f
or physical robots.pdf:PDF},
Publisher
= {Elsevier}
}
@Article{mataric1998using,
Title
ted multiagent learning},
Author
Journal
intelligence},
Year
Number
Pages
Volume

= {Using communication to reduce locality in distribu

= {Mataric, Maja J},
= {Journal of experimental \& theoretical artificial
=
=
=
=

{1998},
{3},
{357--369},
{10},

__markedentry
= {[Florian:3]},
File
= {:papers\\1998_Using communication to reduce locali
ty in distributed multiagent learning.pdf:PDF},
Publisher
= {Taylor \& Francis}
}
@InProceedings{mathews2010establishing,
Title
= {Establishing spatially targeted communication in a
heterogeneous robot swarm},
Author
= {Mathews, Nithin and Christensen, Anders Lyhne and
Ferrante, Eliseo and O Grady, Rehan and Dorigo, Marco},
Booktitle
= {Proceedings of the 9th International Conference on
Autonomous Agents and Multiagent Systems: volume 1-Volume 1},
Year
= {2010},

Organization
Multiagent Systems},
Pages

= {International Foundation for Autonomous Agents and

= {939--946},

__markedentry
=
File
=
unication in a Heterogeneous
Owner
=
Timestamp
=
}

{[Florian:]},
{:papers\\2010_Establishing Spatially Targeted Comm
Robot Swarm.pdf:PDF},
{Florian},
{2014.11.26}

@InProceedings{mathews2011enhanced,
Title
= {Enhanced directional self-assembly based on active
recruitment and guidance},
Author
= {Mathews, Nithin and Christensen, Anders Lyhne and
O Grady, Rehan and R{\ e}tornaz, Philippe and Bonani, Michael and Mondada, Franc
esco and Dorigo, Marco},
Booktitle
= {Intelligent Robots and Systems (IROS), 2011 IEEE/R
SJ International Conference on},
Year
= {2011},
Organization
= {IEEE},
Pages
= {4762--4769},
__markedentry
= {[Florian:1]},
File
= {:papers\\2011_Enhanced Directional Self-Assembly b
ased on Active Recruitement and Guidance.pdf:PDF},
Owner
= {Florian},
Timestamp
= {2014.11.26}
}
@InProceedings{mathews2012supervised,
Title
= {Supervised morphogenesis: morphology control of gr
ound-based self-assembling robots by aerial robots},
Author
= {Mathews, Nithin and Stranieri, Alessandro and Sche
idler, Alexander and Dorigo, Marco},
Booktitle
= {Proceedings of the 11th International Conference o
n Autonomous Agents and Multiagent Systems-Volume 1},
Year
= {2012},
Organization
= {International Foundation for Autonomous Agents and
Multiagent Systems},
Pages
= {97--104},
__markedentry
= {[Florian:1]},
File
= {:papers\\2012_Supervised Morphogenesis Morphology
Control of Ground-based Self-Assembling Robots by Aerial Robots.pdf:PDF},
Owner
= {Florian},
Timestamp
= {2014.11.26}
}
@Article{mitri2009evolution,
Title
= {The evolution of information suppression in commun
icating robots with conflicting interests},
Author
= {Mitri, Sara and Floreano, Dario and Keller, Lauren
t},
Journal
= {Proceedings of the National Academy of Sciences},
Year
= {2009},
Number
= {37},
Pages
= {15786--15790},
Volume
= {106},

__markedentry
= {[Florian:]},
Doi
= {10.1073pnas.0903152106},
File
= {:papers\\2009_The evolution of information suppres
sion in communicating robots with conflicting interests.pdf:PDF},
Publisher
= {National Acad Sciences}
}
@Article{nolfi2005emergence,
Title
= {Emergence of communication in embodied agents: Coadapting communicative and non-communicative behaviours},
Author
= {Nolfi, Stefano},
Journal
= {Connection Science},
Year
= {2005},
Number
= {3-4},
Pages
= {231--248},
Volume
= {17},
__markedentry
= {[Florian:]},
File
= {:papers\\2005_Emergence of communication in embodi
ed agents Co-adapting communicative and non-communicative behaviours.pdf:PDF},
Publisher
= {Taylor \& Francis}
}
@InCollection{nolfi2010evolving,
Title
= {Evolving Communication in Embodied Agents: Assessm
ent and Open Challenges},
Author
= {Nolfi, Stefano and Mirolli, Marco},
Booktitle
= {Evolution of Communication and Language in Embodie
d Agents},
Publisher
= {Springer Berlin Heidelberg},
Year
= {2010},
Editor
= {Nolfi, Stefano and Mirolli, Marco},
Pages
= {215-220},
__markedentry
= {[Florian:]},
Doi
= {10.1007/978-3-642-01250-1_12},
File
= {:papers\\2010_Evolving Communication in Embodied A
gents Assessment and Open Challenges.pdf:PDF},
ISBN
= {978-3-642-01249-5},
Language
= {English},
Url
= {http://dx.doi.org/10.1007/978-3-642-01250-1_12}
}
@InProceedings{Parker,
Title
= {Active versus Passive Expression of Preference in
the Control of Multiple-Robot Decision-Making},
Author
= {Chris A. C. Parker and Hong Zhang and Department o
f Computing and Science},
__markedentry
= {[Florian:3]},
Abstract
= {Just like their solitary counterparts, multiple-ro
bot The supervisor then delegates the various roles required by
systems must be able to make decisions in response to their the selected play to
the various robots on the team.
environment. However, with a multiple-robot system, one must
take care to ensure that the individual rob Both of these decision-making strate
gies emphasize theots that compose
a system make their decisions in concert with each other. We need for team-level
decisions to be unanimous. It is of no use
desire decisions to be made at the system level. In this paper we if a few robot

s devise the ideal solution to some problem if

investigate four different mechanisms to allow individual robots the remainder o
f their system does not recognize the decision
within a system to express their preference for a particular and carries out a d
ifferent solution, especially if the two (or
solution to a system-level problem. All four mechanisms consis- more) solutions
are in conflict with each other.
tently produced unanimous decisions, but had varying ability
to produce unanimous decisions of good quality. An approach In our previous work
on this subject, we have taken a
that we refer to as passive expression of preference performed bottom-up approac
h to the multiple-robot decision-making
the best, but had to be tuned to the particular problem being problem as well. W
e developed and implemented a decisionsolved. A mechanism that we refer to as active expression making algorithm based
on the nest site selection strategy of
of preference exhibited very good performance and required a particular species
of ant, of which we give an overview in
no problem specific tuning, which makes it more universally
applicable to the multiple-robot decision-making problem Section II. The individ
ual ants express their preference for.},
File
= {:papers\\2005_Active versus Passive Expression of
Preference in the Control of Multiple-Robot Decision-Making.pdf:PDF},
Review
= {description evolution sim real platform com_type c
om_medium task}
}
@InProceedings{Quinn2001,
Title
tion Channels},
Author
Booktitle
Year
Editor
Pages
Publisher
Series
Volume

= {Evolving Communication without Dedicated Communica

=
=
=
=
=
=
=
=

{Matt Quinn},
{ECAL 2001},
{2001},
{J. Kelemen and P. Sosk},
{357366},
{Springer},
{LNAI},
{2159},

__markedentry
= {[Florian:1]},
Abstract
= {Arti cial Life models have consistently implemented
communication as an exchange of signals over dedicated and functionally
isolated channels. I argue that such a feature prevents models from providing a satisfactory account of the origins of communication and present
a model in which there are no dedicated channels. Agents controlled by
neural networks and equipped with proximity sensors and wheels are presented with a co-ordinated movement task. It is observed that functional,
but non-communicative, behaviours which evolve in the early stages of
the simulation both make possible, and form the basis of, the communicative behaviour which subsequently evolves.},
File
= {:papers\\2001_Evolving Communication without Dedic
ated Communication Channels.pdf:PDF},
Review
= {Evolving Communication without Dedicated
Communication Channels
Matt Quinn
Centre for Computational Neuroscience and Robotics,
University of Sussex, Brighton, U.K.

matthewq@cogs.susx.ac.uk
Abstract. Arti cial Life models have consistently implemented communication as an exchange of signals over dedicated and functionally
isolated channels. I argue that such a feature prevents models from providing a satisfactory account of the origins of communication and present
a model in which there are no dedicated channels. Agents controlled by
neural networks and equipped with proximity sensors and wheels are presented with a co-ordinated movement task. It is observed that functional,
but non-communicative, behaviours which evolve in the early stages of
the simulation both make possible, and form the basis of, the communicative behaviour which subsequently evolves.
1 Introduction
The question of how communicative behaviour might have originated is an interesting one, and the transition from non-communicative to communicative behaviour has long been of interest to ethologists [2,4]. Arti cial Life techniques,
such as agent-based simulation models, are potentially useful tools for explorin
g
questions and hypotheses related to this transition. In particular, they enable
the simulation of co-evolving, interacting organisms at the level of changes in
behaviour and perception. There are a number of models in the ALife literature which simulate the evolution of an organised communication system in an
initially non-communicating population of agents (e.g., [11,6,1,5,3]). In all th
ese
models, communication is restricted to an exchange of signals over dedicated
and functionally isolated communication channels. This feature, I wish to argue,
severely reduces the explanatory value of a model of the evolutionary origins of
communication in natural systems.
Dedicated channels are a reasonable feature of a model which assumes that
individuals are already able to communicate. However, explaining the origins of
communicative behaviour typically involves explaining how it could have evolved
from originally non-communicative behaviours [2,4,7]. This kind of explanation
is not possible with a model which restricts all potential communication to dedicated and functionally isolated channels. However, this problem is avoided if a
model allows potentially communicative behaviour to be functional (and hence
acquire selective value) in contexts other than communication. In order to illustrate this point, I present a model in which there are no dedicated communication channels. Agents are evolved to perform a non-trivial co-ordinated
J. Kelemen and P. Sosk (Eds.): ECAL 2001, LNAI 2159, pp. 357366, 2001.
c Springer-Verlag Berlin Heidelberg 2001}
}
@InProceedings{Fox2000,
Title
= {Coordination for Multi-Robot Exploration and Mappi
ng},
Author
= {Reid Simmons,David Apfelbaum, Wolfram Burgard, Die
ter Fox and Mark Moors and Sebastian Thrun and Hkan Younes},
Year
= {2000},
Publisher
= {From: AAAI-00 Proceedings. Copyright 2000, AAAI (w
ww.aaai.org). All rights reserved.},
__markedentry
= {[Florian:1]},
Abstract
= {optimally is intractable, we present a greedy appr
oach that
performs quite well, in practice.},

File
= {:papers\\2000_Coordination for multi-robot explora
tion and mapping.pdf:PDF},
Review
= {From: AAAI-00 Proceedings. Copyright 2000, AAAI (w
ww.aaai.org). All rights reserved.
Coordination for Multi-Robot Exploration and Mapping
Reid Simmons, David Apfelbaum, Wolfram Burgard1,
Dieter Fox, Mark Moors2, Sebastian Thrun, Hkan Younes
School of Computer Science, Carnegie Mellon University, Pittsburgh, PA 15213
1Department of Computer Science, University of Freiburg, 79110 Freiburg, Germany
2Department of Computer Science III, University of Bonn, 53117 Bonn, Germany
Abstract optimally is intractable, we present a greedy approach that
performs quite well, in practice.
This paper addresses the problem of exploration and
mapping of an unknown environment by multiple robots Our basic approach to both
coordination problems is.
The mapping algorithm is an on-line approach to similar: Distribute most of the
computation amongst the
likelihood maximization that uses hill climbing to find individual robots and as
ynchronously integrate their results
maps that are maximally consistent with sensor data and by performing some globa
l computations over the data. For
odometry. The exploration algorithm explicitly coordinates instance, each robot
processes its own laser data to create a
the robots. It tries to maximize overall utility by minimizing consistent local
map. A central mapper module then
the potential f integrates the local maps to create a consistent global map.or o
verlap in information gain amongst the
various robots. For both the exploration and mapping The local mappers reduce un
certainty in the data,
algorithms, most of the computations are distributed. Th principally by matching
laser scans to decrease localizatione
techniques have been tested extensively in real-world trial error. The central m
apper further improves the maps
and simulations. The results demonstrate th (minimizing localization error) by i
teratively combininge performance
imp data from the robots. This works under the assumption thatrovements and robu
stness that accrue from our multirobot approach to expl the robots know their pose relative to one another and ha
veoration.
access to high-bandwidth communication.
1 Introduction Similarly, our approach to coordinating exploration
combines distributed computation with global decision
Creating maps of the environment is a fundamental making. The individual robots
construct bids, which
challenge in mobile robotics. In general, to do so efficiently describe their es
timates of the expected information gain
requires good exploration strategies. In particular, the and costs of traveling
to various locations. A central
robots need to know what areas are worthwhile to explore executive receives the
bids and assigns tasks in an attempt
and how to distribute themselves effectively in to maximize overall utility, whi
le trying to minimize order to

thoroughly map previously unknown areas. overlap in coverage by the robots. In b

oth cases, the
Most previous work in mapping dealt only with singl majority of the computation
is done in a distributede
rob fashion, by the individual robots, and the centralizedots. There are, howeve
r, advantages in mapping with
multiple robots. The most obvious is that multipl modules combine and coordinate
information in ane robots efficient way.
can often do the task in less time. This may not always
hold, however, due to interference between robots [6, 8]. After presenting relat
ed work, Sections 3 and 4 describe
Thus, it is important for the exploration strategies to keep our approaches to m
ulti-robot map creation and
the robots relatively well separated. Another advantage is exploration, respecti
vely. Section 5 presents a case study of
that multiple robots may produce more accurate maps, due three robots combining
to map a large indoor area. We also
to merging of overlapping information. This can help analyze quantitative result
s from simulations showing the
compensate for sensor uncertainty and localization error, effects of our explora
tion strategies on task performance.
especially where the robots have different sensor and/or Finally, we discuss fut
ure directions that are important to
localization capabilities [7]. the problems of multi-robot exploration and mappi
ng.
This paper presents techniques for coordinating multiple,
heterogeneous robots in their task of exploring 2 Related Work and
mapping large, indoor environments. We consider two
coordi While there has been work in mapping and exploration fornation problems c
reating a single global map
from the sensor information of the individual robots, and single robot systems [
3, 4, 9, 17, 18], there have been
deciding relatively few approaches for mapping and exploration where each robot
should go in order to create the
map most effectively. While solving the latter probl with multi-robot systems. S
everal researchers have studiedem the problem of using multiple robots to reduce
localization
Copyright 2000, American Association for Artificial Intelligence error during ex
ploration [10, 13]. For instance, in Rekleitis
(www.aaai.org). All rights reserved.}
}
@InCollection{rybski2007communication,
Title
= {Communication strategies in multi-robot search and
retrieval: Experiences with mindart},
Author
= {Rybski, Paul E and Larson, Amy and Veeraraghavan,
Harini and LaPoint, Monica and Gini, Maria},
Booktitle
= {Distributed Autonomous Robotic Systems 6},
Publisher
= {Springer},
Year
= {2007},
Pages
= {317--326},
__markedentry
= {[Florian:]},
File
= {:papers\\2007_Communication strategies in multi-ro
bot search and retrieval Experiences with mindart.pdf:PDF}
}
@Article{saffre1999collective,
Title
= {Collective decision-making in social spiders: drag

line-mediated amplification process acts as a recruitment mechanism},

Author
= {Saffre, Fabrice and Furey, Robert and Krafft, B an
d Deneubourg, Jean-Louis},
Journal
= {Journal of Theoretical Biology},
Year
= {1999},
Number
= {4},
Pages
= {507--517},
Volume
= {198},
__markedentry
File
spiders dragline-mediated
.pdf:PDF},
Publisher
}

= {[Florian:1]},
= {:papers\\1999_Collective decision-making in social
amplification process acts as a recruitment mechanism
= {Elsevier}

@Article{trianni2006self,
Title
= {Self-organisation and communication in groups of s
imulated and physical robots},
Author
= {Trianni, Vito and Dorigo, Marco},
Journal
= {Biological cybernetics},
Year
= {2006},
Number
= {3},
Pages
= {213--231},
Volume
= {95},
__markedentry
= {[Florian:4]},
File
= {:papers\\2006_Self-organisation and communication
in groups of simulated and physical robots.pdf:PDF},
Publisher
= {Springer}
}
@InProceedings{trianni2005emergent,
Title
= {Emergent collective decisions in a swarm of robots
},
Author
= {Trianni, Vito and Dorigo, Marco},
Booktitle
= {Swarm Intelligence Symposium, 2005. SIS 2005. Proc
eedings 2005 IEEE},
Year
= {2005},
Organization
= {IEEE},
Pages
= {241--248},
__markedentry
= {[Florian:1]},
File
= {:papers\\2005_Evolving communicating agents that i
ntegrate information over time a real robot experiment.pdf:PDF}
}
@InProceedings{Trianni2004,
Title
=
Performing Hole Avoidance},
Author
=
o},
Booktitle
=
Year
=
Editor
=
Pages
=
Publisher
=
Series
=
Volume
=

{Evolution of Direct Communication for a Swarm-bot

{Vito Trianni and Thomas H. Labella and Marco Dorig
{ANTS 2004},
{2004},
{M. Dorigo and others},
{130141},
{Springer},
{LNCS},
{3172},

__markedentry
= {[Florian:]},
Abstract
= {Communication is often required for coordination o
f collective behaviours. Social insects like ants, termites or bees make use of different forms of communication, which can be roughly classi ed in three
classes: indirect (stigmergic) communication, direct interaction and direct communication. The use of stigmergic communication is predominant in social insects (e.g., the pheromone trails in ants), but also direct
interactions (e.g., antennation in ants) and direct communication can be
observed (e.g., the waggle dance of honey bee workers). Direct communication may be bene cial when a fast reaction is expected, as for instance,
when a danger is detected and countermeasures must be taken. This is
the case of hole avoidance, the task studied in this paper: a group of selfassembled robots called swarm-bot coordinately explores an arena
containing holes, avoiding to fall into them. In particular, we study the
use of direct communication in order to achieve a reaction to the detection of a hole faster than with the sole use of direct interactions through
physical links. We rely on arti cial evolution for the synthesis of neural
network controllers, showing that evolving behaviours that make use of
direct communication is more e ective than exploiting direct interactions
only.},
File
= {:papers\\2004_Evolution of Direct Communication fo
r a Swarm-bot Performing Hole Avoidance.pdf:PDF},
Keywords
= {evolutionary robotics, swarm robotics, communicati
on},
Review
= {Evolution of Direct Communication
for a Swarm-bot Performing Hole Avoidance
Vito Trianni, Thomas H. Labella, and Marco Dorigo
IRIDIA - Universite Libre de Bruxelles - Brussels, Belgium
{vtrianni,hlabella,mdorigo}@ulb.ac.be
Abstract. Communication is often required for coordination of collective behaviours. Social insects like ants, termites or bees make use of different forms of communication, which can be roughly classi ed in three
classes: indirect (stigmergic) communication, direct interaction and direct communication. The use of stigmergic communication is predominant in social insects (e.g., the pheromone trails in ants), but also direct
interactions (e.g., antennation in ants) and direct communication can be
observed (e.g., the waggle dance of honey bee workers). Direct communication may be bene cial when a fast reaction is expected, as for instance,
when a danger is detected and countermeasures must be taken. This is
the case of hole avoidance, the task studied in this paper: a group of selfassembled robots called swarm-bot coordinately explores an arena
containing holes, avoiding to fall into them. In particular, we study the
use of direct communication in order to achieve a reaction to the detection of a hole faster than with the sole use of direct interactions through
physical links. We rely on arti cial evolution for the synthesis of neural
network controllers, showing that evolving behaviours that make use of
direct communication is more e ective than exploiting direct interactions
only.
Keywords: evolutionary robotics, swarm robotics, communication.
1 Introduction
In collective robotics research, the coordination of the activities in a group o
f
robots requires the de nition of communication strategies and protocols among

the individuals. These strategies and protocols need not, however, be particularly complex. In many cases, simple forms of communication or no explicit
communication at all are enough to obtain the coordination of the activities
of the group [11]. This is the case of swarm robotics, that, drawing inspiration
from social insects such as ants, termites or bees, focuses on distributed robot
ic
systems characterised by limited communication abilities among robots.
Communication in social insects has been thoroughly studied, identifying
di erent modalities used for the regulation of the colonys activities. The study
of the nest building behaviour of termites of the genus Macrotermes led Grasse
to the introduction of the concept of stigmergy [9]. Impressed by the complexity
of termites nests and by their dimension with respect to an individual, Grasse
M. Dorigo et al. (Eds.): ANTS 2004, LNCS 3172, pp. 130141, 2004.
c Springer-Verlag Berlin Heidelberg 2004}
}
@InProceedings{watson2002embodied,
Title
= {Embodied evolution: Distributing an evolutionary a
lgorithm in a population of robots},
Author
= {Watson, Richard A and Ficici, Sevan G and Pollack,
Jordan B},
Year
= {2002},
Number
= {1},
Pages
= {1--18},
Publisher
= {Elsevier},
Volume
= {39},
__markedentry
File

= {[Florian:]},
= {:papers\\2002_Embodied Evolution (Watson).pdf:PDF}

,
Journal
= {Robotics and Autonomous Systems},
Keywords
= {Evolutionary robotics; Artificial Life; Evolutiona
ry algorithms; Distributed learning; Collective robotics},
Review
= {Robotics and Autonomous Systems 39 (2002) 118
Embodied Evolution:
Distributing an evolutionary algorithm
in a population of robots
Richard A. Watson , Sevan G. Ficici, Jordan B. Pollack
Dynamical and Evolutionary Machine Organization, Volen National Center for Compl
ex Systems,
Brandeis University, Waltham, MA 02454, USA
Received 3 June 2000; received in revised form 10 May 2001
Communicated by T.C. Henderson
Abstract
We introduce Embodied Evolution (EE) as a new methodology for evolutionary robot
ics (ER). EE uses a population of
physical robots that autonomously reproduce with one another while situated in t
heir task environment. This constitutes a
fully distributed evolutionary algorithm embodied in physical robots. Several is
sues identified by researchers in the evolutionary robotics community as problematic for the development of ER are alleviat
ed by the use of a large number of robots

being evaluated in parallel. Particularly, EE avoids the pitfalls of the simulat

e-and-transfer method and allows the speed-up
of evaluation time by utilizing parallelism. The more novel features of EE are t
hat the evolutionary algorithm is entirely
decentralized, which makes it inherently scalable to large numbers of robots, an
d that it uses many robots in a shared task
environment, which makes it an interesting platform for future work in collectiv
e robotics and Artificial Life. We have built
a population of eight robots and successfully implemented the first example of E
mbodied Evolution by designing a fully
decentralized, asynchronous evolutionary algorithm. Controllers evolved by EE ou
tperform a hand-designed controller in a
simple application. We introduce our approach and its motivations, detail our im
plementation and initial results, and discuss
the advantages and limitations of EE. 2002 Elsevier Science B.V. All rights rese
rved.
Keywords: Evolutionary robotics; Artificial Life; Evolutionary algorithms; Distr
ibuted learning; Collective robotics
1. Introduction exchange genetic material, producing offspring control programs that become resident in other members
1.1. Vision of the robot population. Naturally, the likelihood of
a robot producing offspring is regulated by its ability
Our work is inspired by the following vision. A to perform the task or collect en
ergy. Further, there
large number of robots freely interact with each other is no need for human inte
rvention either to evaluate,
in a shared environment, attempting to perform some breed, or reposition the rob
ots for new trials.
tasksay the collection of objects representing food This vision, to our knowledge
first described by
or energy Husbands et al. [1], aspires to an ideal where the robot. The robots m
ate with each other, i.e.,
population evolves in a completely hands-free and
Corresponding author autonomous manner; in so doing, it offers intriguing.
E-mail address: richardw@cs.brandeis.edu (R.A. Watson). possibilities for the fu
ture of evolutionary robotics
0921-8890/02/$ see front matter 2002 Elsevier Science B.V. All rights reserved.
PII: S0 9 2 1 -8890 (02 )00170 -7}
}
@InProceedings{werner1997too,
Title
= {Too many love songs: Sexual selection and the evol
ution of communication},
Author
= {Werner, Gregory M and Todd, Peter M},
Booktitle
= {Fourth European Conference on Artificial Life},
Year
= {1997},
Organization
= {MIT Press},
Pages
= {434--443},
__markedentry
= {[Florian:1]},
File
= {:papers\\1997_Too many love songs Sexual selection
and the evolution of communication.pdf:PDF}
}