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In this document we examine the evolutionary methods that may lead to the emergence of altruistic cooperation in robot collectives. We present four evolutionary algorithms that derive from biological theories on the evolution of altruism in nature and compare them systematically in two experimental scenarios where altruistic cooperation can lead to a performance increment. We discuss the relative merits and drawbacks of the four methods and provide recommendations for the choice of the most suitable method for evolving altruistic robots. © 2008 Springer-Verlag Berlin Heidelberg.

Original publication




Journal article


Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)

Publication Date



5050 LNCS


232 - 248