@inbook {2023, title = {When Emotional Machines are Intelligent Machines: The Tangled Knot of Affective Cognition}, booktitle = {Emotional Machines. Perspectives from Affective Computing and Emotional Human-Machine Interaction}, number = {Technikzuk{\"u}nfte, Wissenschaft und Gesellschaft / Futures of Technology, Science and Society}, year = {2023}, publisher = {Springer VS}, organization = {Springer VS}, address = {Wiesbaden}, abstract = {Research in neurobiology has provided evidence that emotions pervade human intelligence at many levels. However, {\textquotedblleft}emotion{\textquotedblright} and {\textquotedblleft}cognition{\textquotedblright} are still largely conceptualized as separate notions that {\textquotedblleft}interact{\textquotedblright}, and untangling and modeling those interactions remains a challenge, both in biological and artificial systems. My research focuses on modeling in autonomous robots how {\textquotedblleft}cognition{\textquotedblright}, {\textquotedblleft}motivation{\textquotedblright} and {\textquotedblleft}emotion{\textquotedblright} interact in what we could term embodied affective cognition, and particularly investigating how affect lies at the root of and drives how agents apprehend and interact with the world, making them {\textquotedblleft}intelligent{\textquotedblright} in the sense of being able to adapt to their environments in flexible and beneficial ways. In this chapter, I discuss this issue as I illustrate how my embodied model of affect has been used in my group to ground a broad range of affective, cognitive and social skills such as adaptive action selection, different types of learning, development, and social interaction.}, isbn = {978-3-658-37640-6}, issn = {2524-3764}, doi = {10.1007/978-3-658-37641-3_6}, url = {https://doi.org/10.1007/978-3-658-37641-3_6}, author = {Ca{\~n}amero, L.}, editor = {Misselhorn, C. and Poljan{\v s}ek, T. and St{\"o}rzinger, T. and M. Klein} } @article {2022, title = {The Long-Term Efficacy of {\textquotedblleft}Social Buffering{\textquotedblright} in Artificial Social Agents: Contextual Affective Perception Matters}, journal = {Frontiers in Robotics and AI}, volume = {9}, year = {2022}, month = {09/2022}, pages = {pp. 1 - 24}, publisher = {Frontiers in Robotics and AI}, type = {Original Research Article}, doi = {10.3389/frobt.2022.699573}, url = {https://doi.org/10.3389/frobt.2022.699573 }, author = {Imran Khan and Ca{\~n}amero, L.} } @inproceedings {2021, title = {Adaptation-By-Proxy: Contagion Effect of Social Buffering in an Artificial Society}, booktitle = {ALIFE 2021: The 2021 Conference on Artificial Life}, year = {2021}, note = {Download (Open Access) }, month = {07/2021}, publisher = {The MIT Press}, organization = {The MIT Press}, abstract = {The {\textquotedblleft}social buffering{\textquotedblright} phenomenon proposes that social support facilitates wellbeing by reducing stress in a number of different ways. While this phenomenon may benefit agents with social support from others, its potential effects on the wider social group are less clear. Using a biologically-inspired artificial life model, we have investigated how some of the hypothesised hormonal mechanisms that underpin the {\textquotedblleft}social buffering{\textquotedblright} phenomenon affect the wellbeing and interactions of agents without social support across numerous social and physical contexts. We tested these effects in a small, rank-based society, with half of the agents endowed with numerous hormonal mechanisms associated with {\textquotedblleft}social buffering{\textquotedblright}, and half without. Surprisingly, our results found that these {\textquotedblleft}social buffering{\textquotedblright} mechanisms provided survival-related advantages to agents without social support across numerous conditions. We found that agents with socially-adaptive mechanisms themselves become a proxy for adaptation, and suggest that, in some (artificial) societies, {\textquotedblleft}social buffering{\textquotedblright} may be a contagious phenomenon.}, doi = {10.1162/isal_a_00424}, url = {https://direct.mit.edu/isal/proceedings/isal/90/102917}, author = {Imran Khan and Lola Ca{\~n}amero} } @inproceedings {2020, title = {Does Expression of Grounded Affect in a Hexapod Robot Elicit More Prosocial Responses?}, booktitle = {UKRAS20 Conference: "Robots into the real world" Proceedings}, year = {2020}, note = {Download (Open Access)}, month = {04/2020}, pages = {40{\textendash}42}, address = {Lincoln, UK}, abstract = {We consider how non-humanoid robots can communicate their affective state via bodily forms of communication, and the extent to which this can influence human response. We propose a simple model of grounded affect and kinesic expression and outline two experiments (N=9 and N=180) in which participants were asked to watch expressive and non-expressive hexapod robots perform different {\textquoteleft}scenes{\textquoteright}. Our preliminary findings suggest the expressive robot stimulated greater desire for interaction, and was more likely to be attributed with emotion. It also elicited more desire for prosocial behaviour.}, doi = {10.31256/Hz3Ww4T}, url = {https://uhra.herts.ac.uk/bitstream/handle/2299/22817/UKRAS20_paper_09.pdf}, author = {Hickton, Luke and Lewis, Matthew and Kheng Lee Koay and Lola Ca{\~n}amero} } @inproceedings {9998, title = {Modelling the Social Buffering Hypothesis in an Artificial Life Environment}, booktitle = {Proceedings of the Artificial Life Conference 2020 (ALIFE 2020)}, year = {2020}, note = {Download (Open Access)}, month = {07/2020}, pages = {393{\textendash}401}, publisher = {MIT Press}, organization = {MIT Press}, address = {Montreal, Canada}, abstract = {In social species, individuals who form social bonds have been found to live longer, healthier lives. One hypothesised reason for this effect is that social support, mediated by oxytocin, "buffers" responses to stress in a number of ways, and is considered an important process of adaptation that facilitates long-term wellbeing in changing, stressful conditions. Using an artificial life model, we have investigated the role of one hypothesised stress-reducing effect of social support on the survival and social interactions of agents in a small society. We have investigated this effect using different types of social bonds and bond partner combinations across environmentally-challenging conditions. Our results have found that stress reduction through social support benefits the survival of agents with social bonds, and that this effect often extends to the wider society. We have also found that this effect is significantly affected by environmental and social contexts. Our findings suggest that these "social buffering" effects may not be universal, but dependent upon the degree of environmental challenges, the quality of affective relationships and the wider social context.}, doi = {10.1162/isal_a_00302}, url = {https://www.mitpressjournals.org/doi/abs/10.1162/isal_a_00302}, author = {Imran Khan and Lewis, Matthew and Lola Ca{\~n}amero}, editor = {Josh Bongard and Juniper Lovato and Laurent Hebert-Dufr{\'e}sne and Radhakrishna Dasari and Lisa Soros} } @inproceedings {2019, title = {The Effects of Affective Social Bonds on the Interactions and Survival of Simulated Agents}, booktitle = {ACII2019 Workshop on Social Emotions, Theories and Models (SE-THEMO)}, year = {2019}, note = {Download (or Download accepted version)}, month = {09/2019}, pages = {374{\textendash}380}, address = {Cambridge, UK}, abstract = {The formation and maintenance of affective social bonds plays a key role in the well-being of social agents. Oxytocin has been correlated with social partner preference, and it is hypothesised to influence prosocial behaviours. In this paper, we investigate the effects of modulating the preference of affective social bond partners through oxytocin during decisions related to food-sharing and grooming, in a society of simulated agents with different dominance ranks. Our results show survival benefits for agents with affective social bonds across a number of groups with different bond combinations. We observe a number of emergent social behaviours and suggest that our results bear some similarity with behaviors observed in biological agents.}, doi = {10.1109/ACIIW.2019.8925031}, url = {https://ieeexplore.ieee.org/abstract/document/8925031}, author = {Imran Khan and Lewis, Matthew and Lola Ca{\~n}amero} } @inproceedings {9998, title = {Adaptation and the Social Salience Hypothesis of Oxytocin: Early Experiments in a Simulated Agent Environment}, booktitle = {Proc. 2nd Symposium on Social Interactions in Complex Intelligent Systems (SICIS)}, series = {Proc. 2018 Convention of the Society for the Study of Artificial Intelligence and Simulation of Behaviour (AISB 2018)}, year = {2018}, note = {Download full proceedings (PDF)}, month = {04/2018}, pages = {2{\textendash}9}, address = {Liverpool, UK}, abstract = {Allostasis is a mechanism that permits adaptation of an organism as a response to changing (physical or social) environmental conditions. Allostasis is driven by a number of factors, including regulation through hormonal mechanisms. Oxytocin (OT) is a hormone that has been found to play a role in regulating social behaviours and adaptation. However, the concrete effects that OT promotes remain unclear and controversial. One of these effects is on the attention paid to social cues (social salience). Two opposing hypotheses have been proposed. One hypothesis is that adaptation is achieved by increasing attention to social cues (increasing social salience), the other that adaptation is achieved by decreasing attention to social cues (decreasing social salience). In this paper, we present agent simulation experiments that test these two contrasting hypotheses under different environmental conditions related to food availability: a comfortable environment, a challenging environment, and a very challenging environment. Our results show that, for the particular conditions modelled, increased social salience through the release of simulated oxytocin presents significant advantages in the challenging conditions.}, url = {http://aisb2018.csc.liv.ac.uk/PROCEEDINGS\%20AISB2018/Social\%20Interactions\%20in\%20Complex\%20Intelligent\%20Systems\%20(SICIS)\%20-\%20AISB2018.pdf}, author = {Imran Khan and Lewis, Matthew and Lola Ca{\~n}amero} } @article {2018, title = {Modelling Adaptation through Social Allostasis: Modulating the Effects of Social Touch with Oxytocin in Embodied Agents}, journal = {Multimodal Technologies and Interaction}, volume = {2}, year = {2018}, note = {Download (Open Access)}, publisher = {MDPI}, chapter = {67}, address = {Basel, Switzerland}, abstract = {Social allostasis is a mechanism of adaptation that permits individuals to dynamically adapt their physiology to changing physical and social conditions. Oxytocin (OT) is widely considered to be one of the hormones that drives and adapts social behaviours. While its precise effects remain unclear, two areas where OT may promote adaptation are by affecting social salience, and affecting internal responses of performing social behaviours. Working towards a model of dynamic adaptation through social allostasis in simulated embodied agents, and extending our previous work studying OT-inspired modulation of social salience, we present a model and experiments that investigate the effects and adaptive value of allostatic processes based on hormonal (OT) modulation of affective elements of a social behaviour. In particular, we investigate and test the effects and adaptive value of modulating the degree of satisfaction of tactile contact in a social motivation context in a small simulated agent society across different environmental challenges (related to availability of food) and effects of OT modulation of social salience as a motivational incentive. Our results show that the effects of these modulatory mechanisms have different (positive or negative) adaptive value across different groups and under different environmental circumstance in a way that supports the context-dependent nature of OT, put forward by the interactionist approach to OT modulation in biological agents. In terms of simulation models, this means that OT modulation of the mechanisms that we have described should be context-dependent in order to maximise viability of our socially adaptive agents, illustrating the relevance of social allostasis mechanisms.}, issn = {2414-4088}, doi = {10.3390/mti2040067}, url = {https://www.mdpi.com/2414-4088/2/4/67}, author = {Imran Khan and Lola Ca{\~n}amero} } @article {2016, title = {Towards Long-Term Social Child-Robot Interaction: Using Multi-Activity Switching to Engage Young Users}, journal = {Journal of Human-Robot Interaction}, volume = {5}, year = {2016}, note = {Download (Open Access)}, pages = {32{\textendash}67}, abstract = {Social robots have the potential to provide support in a number of practical domains, such as learning and behaviour change. This potential is particularly relevant for children, who have proven receptive to interactions with social robots. To reach learning and therapeutic goals, a number of issues need to be investigated, notably the design of an effective child-robot interaction (cHRI) to ensure the child remains engaged in the relationship and that educational goals are met. Typically, current cHRI research experiments focus on a single type of interaction activity (e.g. a game). However, these can suffer from a lack of adaptation to the child, or from an increasingly repetitive nature of the activity and interaction. In this paper, we motivate and propose a practicable solution to this issue: an adaptive robot able to switch between multiple activities within single interactions. We describe a system that embodies this idea, and present a case study in which diabetic children collaboratively learn with the robot about various aspects of managing their condition. We demonstrate the ability of our system to induce a varied interaction and show the potential of this approach both as an educational tool and as a research method for long-term cHRI.}, issn = {2163-0364}, doi = {10.5898/JHRI.5.1.Coninx}, url = {https://dl.acm.org/doi/abs/10.5898/JHRI.5.1.Coninx}, author = {Coninx, Alexandre and Paul E. Baxter and Oleari, Elettra and Bellini, Sara and Bierman, Bert and Henkemans, Olivier Blanson and Lola Ca{\~n}amero and Cosi, Piero and Valentin Enescu and Espinoza, Raquel Ros and Antoine Hiolle and Remi Humbert and Kiefer, Bernd and Kruijff-Korbayov{\'a}, Ivana and Looije, Rosmarijn and Mosconi, Marco and Mark A. Neerincx and Giulio Paci and Patsis, Georgios and Pozzi, Clara and Sacchitelli, Francesca and Hichem Sahli and Alberto Sanna and Sommavilla, Giacomo and Tesser, Fabio and Yiannis Demiris and Tony Belpaeme} } @inproceedings {2015, title = {Let{\textquoteright}s Be Friends: Perception of a Social Robotic Companion for children with T1DM}, booktitle = {Proc. New Friends 2015}, year = {2015}, note = {Download full proceedings (PDF)}, month = {10/2015}, pages = {32{\textendash}33}, address = {Almere, The Netherlands}, abstract = {We describe the social characteristics of a robot developed to support children with Type 1 Diabetes Mellitus (T1DM) in the process of education and care. We evaluated the perception of the robot at a summer camp where diabetic children aged 10-14 experienced the robot in group interactions. Children in the intervention condition additionally interacted with it also individually, in one-to-one sessions featuring several game-like activities. These children perceived the robot significantly more as a friend than those in the control group. They also readily engaged with it in dialogues about their habits related to healthy lifestyle as well as personal experiences concerning diabetes. This indicates that the one-on-one interactions added a special quality to the relationship of the children with the robot.}, url = {https://mheerink.home.xs4all.nl/pdf/ProceedingsNF2015-3.pdf}, author = {Kruijff-Korbayov{\'a}, Ivana and Oleari, Elettra and Pozzi, Clara and Sacchitelli, Francesca and Bagherzadhalimi, Anahita and Bellini, Sara and Kiefer, Bernd and Racioppa, Stefania and Coninx, Alexandre and Paul E. Baxter and Bierman, Bert and Henkemans, Olivier Blanson and Mark A. Neerincx and Rosemarijn Looije and Yiannis Demiris and Espinoza, Raquel Ros and Mosconi, Marco and Cosi, Piero and Remi Humbert and Lola Ca{\~n}amero and Hichem Sahli and Joachim de Greeff and James Kennedy and Robin Read and Lewis, Matthew and Antoine Hiolle and Giulio Paci and Sommavilla, Giacomo and Tesser, Fabio and Athanasopoulos, Georgios and Patsis, Georgios and Verhelst, Werner and Alberto Sanna and Tony Belpaeme} } @inproceedings {2012, title = {Children{\textquoteright}s Adaptation in Multi-session Interaction with a Humanoid Robot}, booktitle = {2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication}, year = {2012}, note = {Download}, pages = {351{\textendash}357}, publisher = {IEEE}, organization = {IEEE}, abstract = {This work presents preliminary observations from a study of children (N=19, age 5{\textendash}12) interacting in multiple sessions with a humanoid robot in a scenario involving game activities. The main purpose of the study was to see how their perception of the robot, their engagement, and their enjoyment of the robot as a companion evolve across multiple interactions, separated by one-two weeks. However, an interesting phenomenon was observed during the experiment: most of the children soon adapted to the behaviors of the robot, in terms of speech timing, speed and tone, verbal input formulation, nodding, gestures, etc. We describe the experimental setup and the system, and our observations and preliminary analysis results, which open interesting questions for further research.}, issn = {1944-9445}, doi = {10.1109/ROMAN.2012.6343778}, url = {http://ieeexplore.ieee.org/document/6343778/}, author = {Nalin, Marco and Baroni, Ilaria and Kruijff-Korbayov{\'a}, Ivana and Lola Ca{\~n}amero and Lewis, Matthew and Aryel Beck and Cuay{\'a}huitl, Heriberto and Alberto Sanna} } @article {2012, title = {Multimodal Child-Robot Interaction: Building Social Bonds}, journal = {Journal of Human-Robot Interaction}, volume = {1}, year = {2012}, note = {Download (Open Access)}, pages = {33{\textendash}53}, abstract = {For robots to interact effectively with human users they must be capable of coordinated, timely behavior in response to social context. The Adaptive Strategies for Sustainable Long-Term Social Interaction (ALIZ-E) project focuses on the design of long-term, adaptive social interaction between robots and child users in real-world settings. In this paper, we report on the iterative approach taken to scientific and technical developments toward this goal: advancing individual technical competencies and integrating them to form an autonomous robotic system for evaluation {\textquotedblleft}in the wild.{\textquotedblright} The first evaluation iterations have shown the potential of this methodology in terms of adaptation of the robot to the interactant and the resulting influences on engagement. This sets the foundation for an ongoing research program that seeks to develop technologies for social robot companions.}, doi = {10.5898/JHRI.1.2.Belpaeme}, url = {https://dl.acm.org/doi/10.5555/3109688.3109691}, author = {Tony Belpaeme and Paul E. Baxter and Robin Read and Rachel Wood and Cuay{\'a}huitl, Heriberto and Kiefer, Bernd and Racioppa, Stefania and Kruijff-Korbayov{\'a}, Ivana and Athanasopoulos, Georgios and Valentin Enescu and Rosemarijn Looije and Mark A. Neerincx and Yiannis Demiris and Raquel Ros-Espinoza and Aryel Beck and Lola Ca{\~n}amero and Lewis, Matthew and Baroni, Ilaria and Nalin, Marco and Cosi, Piero and Giulio Paci and Tesser, Fabio and Sommavilla, Giacomo and Remi Humbert} } @inproceedings {2011, title = {Long-Term Human-Robot Interaction with Young Users}, booktitle = {Proc. ACM/IEEE Human-Robot Interaction conference (HRI-2011) (Robots with Children Workshop)}, year = {2011}, note = {Downlaod}, address = {Lausanne, Switzerland}, abstract = {Artificial companion agents have the potential to combine novel means for effective health communication with young patients support and entertainment. However, the theory and practice of long-term child-robot interaction is currently an underdeveloped area of research. This paper introduces an approach that integrates multiple functional aspects necessary to implement temporally extended human-robot interaction in the setting of a paediatric ward. We present our methodology for the implementation of a companion robot which will be used to support young patients in hospital as they learn to manage a lifelong metabolic disorder (diabetes). The robot will interact with patients over an extended period of time. The necessary functional aspects are identified and introduced, and a review of the technical challenges involved is presented.}, url = {https://www.researchgate.net/publication/228470784_Long-term_human-robot_interaction_with_young_users}, author = {Paul E. Baxter and Tony Belpaeme and Lola Ca{\~n}amero and Cosi, Piero and Yiannis Demiris and Valentin Enescu and Antoine Hiolle and Kruijff-Korbayov{\'a}, Ivana and Rosemarijn Looije and Nalin, Marco and Mark A. Neerincx and Hichem Sahli and Giocomo Sommavilla and Tesser, Fabio and Rachel Wood} } @inbook {2009, title = {Emotion Modelling and Facial Affect Recognition in Human-Computer and Human-Robot Interaction}, booktitle = {Affective Computing, Emotion Modelling, Synthesis and Recognition}, year = {2009}, publisher = {InTechOpen Publishers}, organization = {InTechOpen Publishers}, chapter = {12}, isbn = {978-3-902613-42-4}, doi = {10.5772/6648}, url = {http://www.intechopen.com/books/state_of_the_art_in_face_recognition/emotion_modelling_and_facial_affect_recognition_in_human-computer_and_human-robot_interaction}, author = {Lori Malatesta and John C Murray and Amaryllis Raouzaiou and Antoine Hiolle and Lola Ca{\~n}amero and Kostas Karpouzis}, editor = {Mario I. Chacon-M.} } @inproceedings {2009, title = {The Influence of Social Interaction on the Perception of Emotional Expression: A Case Study with a Robot Head}, booktitle = {Advances in Robotics: Proc. FIRA RoboWorld Congress 2009}, series = {Lecture Notes in Computer Science}, volume = {5744}, year = {2009}, month = {08/2009}, pages = {63{\textendash}72}, publisher = {Springer Berlin Heidelberg}, organization = {Springer Berlin Heidelberg}, address = {Incheon, Korea}, abstract = {In this paper we focus primarily on the influence that socio-emotional interaction has on the perception of emotional expression by a robot. We also investigate and discuss the importance of emotion expression in socially interactive situations involving human robot interaction (HRI), and show the importance of utilising emotion expression when dealing with interactive robots, that are to learn and develop in socially situated environments. We discuss early expressional development and the function of emotion in communication in humans and how this can improve HRI communications. Finally we provide experimental results showing how emotion-rich interaction via emotion expression can affect the HRI process by providing additional information.}, isbn = {978-3-642-03983-6}, doi = {10.1007/978-3-642-03983-6_10}, url = {https://link.springer.com/chapter/10.1007\%2F978-3-642-03983-6_10}, author = {John C Murray and Lola Ca{\~n}amero and Kim A. Bard and Ross, Marina Davila and Thorsteinsson, Kate}, editor = {Kim, Jong-Hwan and Ge, Shuzhi Sam and Vadakkepat, Prahlad and Jesse, Norbert and Al Manum, Abdullah and Puthusserypady K, Sadasivan and R{\"u}ckert, Ulrich and Sitte, Joaquin and Witkowski, Ulf and Nakatsu, Ryohei and Braunl, Thomas and Baltes, Jacky and Anderson, John and Wong, Ching-Chang and Verner, Igor and Ahlgren, David} } @inproceedings {2007, title = {Developing Sensorimotor Associations Through Attachment Bonds}, booktitle = {Proc. 7th International Conference on Epigenetic Robotics (EpiRob 2007)}, series = {Lund University Cognitive Studies}, volume = {134}, year = {2007}, pages = {45{\textendash}52}, publisher = {Lund University}, organization = {Lund University}, address = {Piscataway, NJ, USA}, abstract = {Attachment bonds and positive affect help cognitive development and social interactions in infants and animals. In this paper we present a neural architecture to enable a robot to develop an attachment bond with a person or an object, and to discover the correct sensorimotor associations to maintain a desired affective state of well-being using a minimum amount of prior knowledge about the possible interactions with this object. We also discuss how our research on attachment bonds could further developmental robotics in the near future.}, isbn = {91-974741-8-5}, issn = {1101-8453}, url = {https://www.lucs.lu.se/LUCS/135/Hiolle.pdf}, author = {Antoine Hiolle and Lola Ca{\~n}amero}, editor = {Luc Berthouze and C G Prince and M Littman and Hideki Kozima and Christian Balkenius} } @inproceedings {2005, title = {From Imprinting to Adaptation: Building a History of Affective Interaction}, booktitle = {Fifth International Workshop on Epigenetic Robotics: Modeling Cognitive Development in Robotic Systems (EpiRob2005)}, year = {2005}, pages = {23{\textendash}30}, publisher = {Lund University Cognitive Studies}, organization = {Lund University Cognitive Studies}, abstract = {We present a Perception-Action architecture and experiments to simulate imprinting{\textemdash}the establishment of strong attachment links with a "caregiver"{\textemdash}in a robot. Following recent theories, we do not consider imprinting as rigidly timed and irreversible, but as a more flexible phenomenon that allows for further adaptation as a result of reward-based learning through experience. Our architecture reconciles these two types of perceptual learning traditionally considered as different and even incompatible. After the initial imprinting, adaptation is achieved in the context of a history of "affective" interactions between the robot and a human, driven by "distress" and "comfort" responses in the robot.}, isbn = {91-974741-4-2}, author = {Arnaud J Blanchard and Lola Ca{\~n}amero}, editor = {Luc Berthouze and Fr{\'e}d{\'e}ric Kaplan and Hideki Kozima and Hiroyuki Yano and J{\"u}rgen Konczak and Giorgio Metta and Jacqueline Nadel and Giulio Sandini and Georgi Stojanov and Christian Balkenius} } @inproceedings {2003, title = {Analyzing the Performance of "Winner-Take-All" and "Voting-Based" Action Selection Policies within the Two-Resource Problem}, booktitle = {Advances in Artificial Life: 7th European Conference, ECAL 2003}, series = {Lecture Notes in Artificial Intelligence}, volume = {2801}, year = {2003}, note = {Download}, month = {09/2003}, pages = {733{\textendash}742}, publisher = {Springer}, organization = {Springer}, address = {Dortmund, Germany}, abstract = {The problem of action selection for an autonomous creature implies resolving conflicts between competing behavioral alternatives. These conflicts can be resolved either via competition, following a {\textquotedblleft}winner-take-all{\textquotedblright} approach, or via cooperation in a {\textquotedblleft}voting-based{\textquotedblright} approach. In this paper we present two robotic architectures implementing these approaches, and report on experiments we have performed to compare their underlying optimization policies. We have framed this study within the context of the {\textquotedblleft}two-resource problem,{\textquotedblright} as it provides a widely used standard that favors systematic experimentation, analysis, and comparison of results.}, isbn = {978-3-540-20057-4}, doi = {10.1007/978-3-540-39432-7_79}, url = {https://link.springer.com/chapter/10.1007\%2F978-3-540-39432-7_79}, author = {Avila-Garc{\'\i}a, Orlando and Lola Ca{\~n}amero and Ren{\'e} te Boekhorst}, editor = {Banzhaf, Wolfgang and Christaller, Thomas and Dittrich, Peter and Kim, Jan T and Ziegler, Jens} }