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Nolfi,Floreano -- Co-evolving predator and prey robots: Do 'arm races' arise in artificial evolution -- 1998

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2003-The emergence of communication in evolutionary robots - Marocco,Cangelosi,Nolfi
Nolfi S., Floreano D. (1998). Co-evolving predator and prey robots: Do 'arm races' arise in artificial evolution? Artificial Life, 4(4), 311-335.
 
2002-The Role of Social and Cognitive Abilities in the Emergence of Communication: Experiments in Evolutionary Robotics - Marocco,Cangelosi,Nolfi
Nolfi S., Floreano D. (1998). Co-evolving predator and prey robots: Do 'arm races' arise in artificial evolution? Artificial Life, 4(4), 311-335.
 
2005-Emergence of communication in embodied agents: co-adapting communicative and non-communicative behaviours - Nolfi
Nolfi S. & Floreano D. (1998 copyright 1999). Co-evolving predator and prey robots: Do 'arm races' arise in artificial evolution? Artificial Life, 4 (4): 311-335.