Biomimetic robots are promising tools in animal behavioural studies. If they are socially integrated in a group of animals, they can produce calibrated social stimuli to test the animal responses. However, the design of such social robots is challenging as it involves both a luring capability including appropriate robot behaviours, and the acceptation of the robots by the animals as social companions. Here, we investigate the integration of a biomimetic robot driven by biomimetic behavioural models into a group of zebrafish (Danio rerio). The robot behaviours are based on a stochastic model linking zebrafish visual perception to individual behaviour and calibrated experimentally to correspond to the behaviour of zebrafish. We show that our robot can be integrated into a group of zebrafish, mimic their behaviour and exhibit similar collective dynamics compared to fish-only groups. This study shows that an autonomous biomimetic robot was enhanced by a biomimetic behavioural model so that it can socially integrate into groups of fish.
Basic models of mating-system evolution predict that hermaphroditic organisms should mostly either cross-fertilize, or self-fertilize, due to self-reinforcing coevolution of inbreeding depression and outcrossing rates. However transitions between mating systems occur. A plausible scenario for such transitions assumes that a decrease in pollinator or mate availability temporarily constrains outcrossing populations to self-fertilize as a reproductive assurance strategy. This should trigger a purge of inbreeding depression, which in turn encourages individuals to self-fertilize more often and finally to reduce male allocation. We tested the predictions of this scenario using the freshwater snail Physa acuta, a self-compatible hermaphrodite that preferentially outcrosses and exhibits high inbreeding depression in natural populations. From an outbred population, we built two types of experimental evolution lines, controls (outcrossing every generation) and constrained lines (in which mates were often unavailable, forcing individuals to self-fertilize). After ca. 20 generations, individuals from constrained lines initiated self-fertilization earlier in life and had purged most of their inbreeding depression compared to controls. However, their male allocation remained unchanged. Our study suggests that the mating system can rapidly evolve as a response to reduced mating opportunities, supporting the reproductive assurance scenario of transitions from outcrossing to selfing.
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