Emergence of Communication in Teams of Embodied and Situated Agents

In this paper we will describe the results of an experiment in which an effective communication system arises among a collection of initially non-communicating agents through a self-organization process based on an evolutionary process. Evolved agents communicate by producing and detecting five different signals that affect both their motor and signaling behavior. These signals identify features of the environment and of the agents/agents and agents/environmental relations that are crucial for solving the given problem. The obtained results also indicate that individual and social/communicative behaviors are tightly co-adapted.