Sara Mitri

Evolutionary Conditions for the Emergence of Communication in Robots

Information transfer plays a central role in the biology of most organisms, particularly social species [1, 2]. Although the neurophysiological processes by which signals are produced, conducted, perceived, and interpreted are well understood, the conditions conducive to the evolution of communication and the paths by which reliable systems of communication become established remain largely unknown. This is a particularly challenging problem because efficient communication requires tight coevolution between the signal emitted and the response elicited [3]. We conducted repeated trials of experimental evolution with robots that could produce visual signals to provide information on food location. We found that communication readily evolves when colonies consist of genetically similar individuals and when selection acts at the colony level. We identified several distinct communication systems that differed in their efficiency. Once a given system of communication was well established, it constrained the evolution of more efficient communication systems. Under individual selection, the ability to produce visual signals resulted in the evolution of deceptive communication strategies in colonies of unrelated robots and a concomitant decrease in colony performance. This study generates predictions about the evolutionary conditions conducive to the emergence of communication and provides guidelines for designing artificial evolutionary systems displaying spontaneous communication.

Social evolution in multispecies biofilms

Microbial ecology is revealing the vast diversity of strains and species that coexist in many environments, ranging from free-living communities to the symbionts that compose the human microbiome. In parallel, there is growing evidence of the importance of cooperative phenotypes for the growth and behavior of microbial groups. Here we ask: How does the presence of multiple species affect the evolution of cooperative secretions? We use a computer simulation of spatially structured cellular groups that captures key features of their biology and physical environment. When nutrient competition is strong, we find that the addition of new species can inhibit cooperation by eradicating secreting strains before they can become established. When nutrients are abundant and many species mix in one environment, however, our model predicts that secretor strains of any one species will be surrounded by other species. This “social insulation” protects secretors from competition with nonsecretors of the same species and can improve the prospects of within-species cooperation. We also observe constraints on the evolution of mutualistic interactions among species, because it is difficult to find conditions that simultaneously favor both within- and among-species cooperation. Although relatively simple, our model reveals the richness of interactions between the ecology and social evolution of multispecies microbial groups, which can be critical for the evolution of cooperation.

The Genotypic View of Social Interactions in Microbial Communities

Dense and diverse microbial communities are found in many environments. Disentangling the social interactions between strains and species is central to understanding microbes and how they respond to perturbations. However, the study of social evolution in microbes tends to focus on single species. Here, we broaden this perspective and review evolutionary and ecological theory relevant to microbial interactions across all phylogenetic scales. Despite increased complexity, we reduce the theory to a simple null model that we call the genotypic view. This states that cooperation will occur when cells are surrounded by identical genotypes at the loci that drive interactions, with genetic identity coming from recent clonal growth or horizontal gene transfer (HGT). In contrast, because cooperation is only expected to evolve between different genotypes under restrictive ecological conditions, different genotypes will typically compete. Competition between two genotypes includes mutual harm but, importantly, also many interactions that are beneficial to one of the two genotypes, such as predation. The literature offers support for the genotypic view with relatively few examples of cooperation between genotypes. However, the study of microbial interactions is still at an early stage. We outline the logic and methods that help to better evaluate our perspective and move us toward rationally engineering microbial communities to our own advantage.

The evolution of information suppression in communicating robots with conflicting interests

Reliable information is a crucial factor influencing decision-making and, thus, fitness in all animals. A common source of information comes from inadvertent cues produced by the behavior of conspecifics. Here we use a system of experimental evolution with robots foraging in an arena containing a food source to study how communication strategies can evolve to regulate information provided by such cues. The robots could produce information by emitting blue light, which the other robots could perceive with their cameras. Over the first few generations, the robots quickly evolved to successfully locate the food, while emitting light randomly. This behavior resulted in a high intensity of light near food, which provided social information allowing other robots to more rapidly find the food. Because robots were competing for food, they were quickly selected to conceal this information. However, they never completely ceased to produce information. Detailed analyses revealed that this somewhat surprising result was due to the strength of selection on suppressing information declining concomitantly with the reduction in information content. Accordingly, a stable equilibrium with low information and considerable variation in communicative behaviors was attained by mutation selection. Because a similar coevolutionary process should be common in natural systems, this may explain why communicative strategies are so variable in many animal species.

Using robots to understand social behaviour

A major challenge in studying social behaviour stems from the need to disentangle the behaviour of each individual from the resulting collective. One way to overcome this problem is to construct a model of the behaviour of an individual, and observe whether combining many such individuals leads to the predicted outcome. This can be achieved by using robots. In this review we discuss the strengths and weaknesses of such an approach for studies of social behaviour. We find that robots—whether studied in groups of simulated or physical robots, or used to infiltrate and manipulate groups of living organisms—have important advantages over conventional individual‐based models and have contributed greatly to the study of social behaviour. In particular, robots have increased our understanding of self‐organization and the evolution of cooperative behaviour and communication. However, the resulting findings have not had the desired impact on the biological community. We suggest reasons for why this may be the case, and how the benefits of using robots can be maximized in future research on social behaviour.

The Ecology and Evolution of Microbial Competition

Microbes are typically surrounded by different strains and species with whom they compete for scarce nutrients and limited space. Given such challenging living conditions, microbes have evolved many phenotypes with which they can outcompete and displace their neighbours: secretions to harvest resources, loss of costly genes whose products can be obtained from others, stabbing and poisoning neighbouring cells, or colonising spaces while preventing others from doing so. These competitive phenotypes appear to be common, although evidence suggests that, over time, competition dies down locally, often leading to stable coexistence of genetically distinct lineages. Nevertheless, the selective forces acting on competition and the resulting evolutionary fates of the different players depend on ecological conditions in a way that is not yet well understood. Here, we highlight open questions and theoretical predictions of the long-term dynamics of competition that remain to be tested. Establishing a clearer understanding of microbial competition will allow us to better predict the behaviour of microbes, and to control and manipulate microbial communities for industrial, environmental, and medical purposes.

Migration and horizontal gene transfer divide microbial genomes into multiple niches

Horizontal gene transfer is central to microbial evolution, because it enables genetic regions to spread horizontally through diverse communities. However, how gene transfer exerts such a strong effect is not understood. Here we develop an eco-evolutionary model and show how genetic transfer, even when rare, can transform the evolution and ecology of microbes. We recapitulate existing models, which suggest that asexual reproduction will overpower horizontal transfer and greatly limit its effects. We then show that allowing immigration completely changes these predictions. With migration, the rates and impacts of horizontal transfer are greatly increased, and transfer is most frequent for loci under positive natural selection. Our analysis explains how ecologically important loci can sweep through competing strains and species. In this way, microbial genomes can evolve to become ecologically diverse where different genomic regions encode for partially overlapping, but distinct, ecologies. Under these conditions ecological species do not exist, because genes, not species, inhabit niches.

Robust Object Detection at Regions of Interest with an Application in Ball Recognition

In this paper, we present a new combination of a biologically inspired attention system (VOCUS – Visual Object detection with a CompUtational attention System) with a robust object detection method. As an application, we built a reliable system for ball recognition in the RoboCup context. Firstly, VOCUS finds regions of interest generating a hypothesis for possible locations of the ball. Secondly, a fast classifier verifies the hypothesis by detecting balls at regions of interest. The combination of both approaches makes the system highly robust and eliminates false detections. Furthermore, the system is quickly adaptable to balls in different scenarios: The complex classifier is universally applicable to balls in every context and the attention system improves the performance by learning scenario-specific features quickly from only a few training examples.

Relatedness influences signal reliability in evolving robots

Communication is an indispensable component of animal societies, yet many open questions remain regarding the factors affecting the evolution and reliability of signalling systems. A potentially important factor is the level of genetic relatedness between signallers and receivers. To quantitatively explore the role of relatedness in the evolution of reliable signals, we conducted artificial evolution over 500 generations in a system of foraging robots that can emit and perceive light signals. By devising a quantitative measure of signal reliability, and comparing independently evolving populations differing in within-group relatedness, we show a strong positive correlation between relatedness and reliability. Unrelated robots produced unreliable signals, whereas highly related robots produced signals that reliably indicated the location of the food source and thereby increased performance. Comparisons across populations also revealed that the frequency for signal production—which is often used as a proxy of signal reliability in empirical studies on animal communication—is a poor predictor of signal reliability and, accordingly, is not consistently correlated with group performance. This has important implications for our understanding of signal evolution and the empirical tools that are used to investigate communication.

Resource limitation drives spatial organization in microbial groups.

Dense microbial groups such as bacterial biofilms commonly contain a diversity of cell types that define their functioning. However, we have a limited understanding of what maintains, or purges, this diversity. Theory suggests that resource levels are key to understanding diversity and the spatial arrangement of genotypes in microbial groups, but we need empirical tests. Here we use theory and experiments to study the effects of nutrient level on spatio-genetic structuring and diversity in bacterial colonies. Well-fed colonies maintain larger well-mixed areas, but they also expand more rapidly compared with poorly-fed ones. Given enough space to expand, therefore, well-fed colonies lose diversity and separate in space over a similar timescale to poorly fed ones. In sum, as long as there is some degree of nutrient limitation, we observe the emergence of structured communities. We conclude that resource-driven structuring is central to understanding both pattern and process in diverse microbial communities.