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Behaviour as a Complex Adaptive System: On the Role of Self-Organization in the Development of Individual and Collective Behaviour

In this paper we discuss the complex system and adaptive nature of behaviour. The complex system nature of behaviour derives from the fact that behaviour and behavioural properties are phenomena that occur at a given time scale and result from several non-linear interactions occurring at a smaller time scale. Interactions occur in time (i.e. consist of sequence events in which future interactions are constrained by preceding interactions) and might eventually consist of a vector of concurrent interactions. Moreover, we argued that behaviour might involve several emergent dynamical processes, hierarchically organized, that affect each other bottom-up and top-down. The adaptive system nature of behaviour derives from the fact that, due to the very indirect relationship between the properties of the interacting elements and the emergent results of the interactions, behavioural systems can hardly be designed while they can be effectively developed through self-organizing methods in which properties emerging from interactions can be discovered and retained through an adaptive process based on exploration and selection. These two claims will be demonstrated in two concrete examples involving mobile robots in which non-trivial individual and collective behaviours have been developed through an evolutionary technique.