Evolutionary games and population dynamics: maintenance of cooperation in public goods games

The emergence and abundance of cooperation in nature poses a tenacious and challenging puzzle to evolutionary biology. Cooperative behaviour seems to contradict Darwinian evolution because altruistic individuals increase the fitness of other members of the population at a cost to themselves. Thus, in the absence of supporting mechanisms, cooperation should decrease and vanish, as predicted by classical models for cooperation in evolutionary game theory, such as the Prisoner's Dilemma and public goods games. Traditional approaches to studying the problem of cooperation assume constant population sizes and thus neglect the ecology of the interacting individuals. Here, we incorporate ecological dynamics into evolutionary games and reveal a new mechanism for maintaining cooperation. In public goods games, cooperation can gain a foothold if the population density depends on the average population payoff. Decreasing population densities, due to defection leading to small payoffs, results in smaller interaction group sizes in which cooperation can be favoured. This feedback between ecological dynamics and game dynamics can generate stable coexistence of cooperators and defectors in public goods games. However, this mechanism fails for pairwise Prisoner's Dilemma interactions and the population is driven to extinction. Our model represents natural extension of replicator dynamics to populations of varying densities.     

Adaptive dynamics of cooperation may prevent the coexistence of defectors and cooperators and even cause extinction

It has recently been demonstrated that ecological feedback mechanisms can facilitate the emergence and maintenance of cooperation in public goods interactions: the replicator dynamics of defectors and cooperators can result, for example, in the ecological coexistence of cooperators and defectors. Here we show that these results change dramatically if cooperation strategy is not fixed but instead is a continuously varying trait under natural selection. For low values of the factor with which the value of resources is multiplied before they are shared among all participants, evolution will always favour lower cooperation strategies until the population falls below an Allee threshold and goes extinct, thus evolutionary suicide occurs. For higher values of the factor, there exists a unique evolutionarily singular strategy, which is convergence stable. Because the fitness function is linear with respect to the strategy of the mutant, this singular strategy is neutral against mutant invasions. This neutrality disappears if a nonlinear functional response in receiving benefits is assumed. For strictly concave functional responses, singular strategies become uninvadable. Evolutionary branching, which could result in the evolutionary emergence of cooperators and defectors, can occur only with locally convex functional responses, but we illustrate that it can also result in coevolutionary extinction.     

The durability of public goods changes the dynamics and nature of social dilemmas

An implicit assumption underpins basic models of the evolution of cooperation, mutualism and altruism: The benefits (or pay-offs) of cooperation and defection are defined by the current frequency or distribution of cooperators. In social dilemmas involving durable public goods (group resources that can persist in the environment-ubiquitous from microbes to humans) this assumption is violated. Here, we examine the consequences of relaxing this assumption, allowing pay-offs to depend on both current and past numbers of cooperators. We explicitly trace the dynamic of a public good created by cooperators, and define pay-offs in terms of the current public good. By raising the importance of cooperative history in determining the current fate of cooperators, durable public goods cause novel dynamics (e.g., transient increases in cooperation in Prisoner's Dilemmas, oscillations in Snowdrift Games, or shifts in invasion thresholds in Stag-hunt Games), while changes in durability can transform one game into another, by moving invasion thresholds for cooperation or conditions for coexistence with defectors. This enlarged view challenges our understanding of social cheats. For instance, groups of cooperators can do worse than groups of defectors, if they inherit fewer public goods, while a rise in defectors no longer entails a loss of social benefits, at least not in the present moment (as highlighted by concerns over environmental lags). Wherever durable public goods have yet to reach a steady state (for instance due to external perturbations), the history of cooperation will define the ongoing dynamics of cooperators.     

Group-size diversity in public goods games

Public goods games are models of social dilemmas where cooperators pay a cost for the production of a public good while defectors free ride on the contributions of cooperators. In the traditional framework of evolutionary game theory, the payoffs of cooperators and defectors result from interactions in groups formed by binomial sampling from an infinite population. Despite empirical evidence showing that group-size distributions in nature are highly heterogeneous, most models of social evolution assume that the group size is constant. In this article, I remove this assumption and explore the effects of having random group sizes on the evolutionary dynamics of public goods games. By a straightforward application of Jensen's inequality, I show that the outcome of general nonlinear public goods games depends not only on the average group size but also on the variance of the group-size distribution. This general result is illustrated with two nonlinear public goods games (the public goods game with discounting or synergy and the N-person volunteer's dilemma) and three different group-size distributions (Poisson, geometric, and Waring). The results suggest that failing to acknowledge the natural variation of group sizes can lead to an underestimation of the actual level of cooperation exhibited in evolving populations.     

Public goods games with reward in finite populations

Public goods games paraphrase the problem of cooperation in game theoretical terms. Cooperators contribute to a public good and thereby increase the welfare of others at a cost to themselves. Defectors consume the public good but do not pay its cost and therefore outperform cooperators. Hence, according to genetic or cultural evolution, defectors should be favored and the public good disappear – despite the fact that groups of cooperators are better off than groups of defectors. The maximization of short term individual profits causes the demise of the common resource to the detriment of all. This outcome can be averted by introducing incentives to cooperate. Negative incentives based on the punishment of defectors efficiently stabilize cooperation once established but cannot initiate cooperation. Here we consider the complementary case of positive incentives created by allowing individuals to reward those that contribute to the public good. The finite-population stochastic dynamics of the public goods game with reward demonstrate that reward initiates cooperation by providing an escape hatch out of states of mutual defection. However, in contrast to punishment, reward is unable to stabilize cooperation but, instead, gives rise to a persistent minority of cooperators.     

Evolution of cooperation under -person snowdrift games

In the animal world, performing a given task which is beneficial to an entire group requires the cooperation of several individuals of that group who often share the workload required to perform the task. The mathematical framework to study the dynamics of collective action is game theory. Here we study the evolutionary dynamics of cooperators and defectors in a population in which groups of individuals engage in N-person, non-excludable public goods games. We explore an N-person generalization of the well-known two-person snowdrift game. We discuss both the case of infinite and finite populations, taking explicitly into consideration the possible existence of a threshold above which collective action is materialized. Whereas in infinite populations, an N-person snowdrift game (NSG) leads to a stable coexistence between cooperators and defectors, the introduction of a threshold leads to the appearance of a new interior fixed point associated with a coordination threshold. The fingerprints of the stable and unstable interior fixed points still affect the evolutionary dynamics in finite populations, despite evolution leading the population inexorably to a monomorphic end-state. However, when the group size and population size become comparable, we find that spite sets in, rendering cooperation unfeasible.     

The Increased Risk of Joint Venture Promotes Social Cooperation

The joint venture of many members is common both in animal world and human society. In these public enterprizes, highly cooperative groups are more likely to while low cooperative groups are still possible but not probable to succeed. Existent literature mostly focuses on the traditional public goods game, in which cooperators create public wealth unconditionally and benefit all group members unbiasedly. We here institute a model addressing this public goods dilemma with incorporating the public resource foraging failure risk. Risk-averse individuals tend to lead a autarkic life, while risk-preferential ones tend to participate in the risky public goods game. For participants, group''s success relies on its cooperativeness, with increasing contribution leading to increasing success likelihood. We introduce a function with one tunable parameter to describe the risk removal pattern and study in detail three representative classes. Analytical results show that the widely replicated population dynamics of cyclical dominance of loner, cooperator and defector disappear, while most of the time loners act as savors while eventually they also disappear. Depending on the way that group''s success relies on its cooperativeness, either cooperators pervade the entire population or they coexist with defectors. Even in the later case, cooperators still hold salient superiority in number as some defectors also survive by parasitizing. The harder the joint venture succeeds, the higher level of cooperation once cooperators can win the evolutionary race. Our work may enrich the literature concerning the risky public goods games.     

Ecological public goods games: cooperation and bifurcation

The Public Goods Game is one of the most popular models for studying the origin and maintenance of cooperation. In its simplest form, this evolutionary game has two regimes: defection goes to fixation if the multiplication factor r is smaller than the interaction group size N, whereas cooperation goes to fixation if the multiplication factor r is larger than the interaction group size N. Hauert et al. [Hauert, C., Holmes, M., Doebeli, M., 2006a. Evolutionary games and population dynamics: Maintenance of cooperation in public goods games. Proc. R. Soc. Lond. B 273, 2565-2570] have introduced the Ecological Public Goods Game by viewing the payoffs from the evolutionary game as birth rates in a population dynamic model. This results in a feedback between ecological and evolutionary dynamics: if defectors are prevalent, birth rates are low and population densities decline, which leads to smaller interaction groups for the Public Goods game, and hence to dominance of cooperators, with a concomitant increase in birth rates and population densities. This feedback can lead to stable co-existence between cooperators and defectors. Here we provide a detailed analysis of the dynamics of the Ecological Public Goods Game, showing that the model exhibits various types of bifurcations, including supercritical Hopf bifurcations, which result in stable limit cycles, and hence in oscillatory co-existence of cooperators and defectors. These results show that including population dynamics in evolutionary games can have important consequences for the evolutionary dynamics of cooperation.     

Characterization of domain instabilities in lipid bilayers by Karhunen-Loeve analysis

We study the stability of lipid bilayers with artificial domains. In investigating different domain structures, we identify scenarios of stable and unstable arrangements of patches of mixed phospholipids. These are then characterized using Karhunen-Loeve Expansion (KLE), a special form of Principal Components Analysis (PCA). The simulation data are interrogated using KLE to reveal spatiotemporal patterns that explain relevant motions in the bilayer system. By projecting the high-dimensional dataset onto a small number of key modes, KLE reveals specific dynamic signatures that can help distinguish and characterize various domain instability mechanisms. We find that typically very few modes are responsible for describing a mechanism of instability to a reasonable extent and can clearly distinguish between stable and unstable arrangements. Different instability modes are characterized as they exhibit unique features like global deformation or local mixing modes.     

Characterization of domain instabilities in lipid bilayers by Karhunen-Loeve analysis

We study the stability of lipid bilayers with artificial domains. In investigating different domain structures, we identify scenarios of stable and unstable arrangements of patches of mixed phospholipids. These are then characterized using Karhunen-Loeve Expansion (KLE), a special form of Principal Components Analysis (PCA). The simulation data are interrogated using KLE to reveal spatiotemporal patterns that explain relevant motions in the bilayer system. By projecting the high-dimensional dataset onto a small number of key modes, KLE reveals specific dynamic signatures that can help distinguish and characterize various domain instability mechanisms. We find that typically very few modes are responsible for describing a mechanism of instability to a reasonable extent and can clearly distinguish between stable and unstable arrangements. Different instability modes are characterized as they exhibit unique features like global deformation or local mixing modes.     

Probabilistic participation in public goods games

Voluntary participation in public goods games (PGGs) has turned out to be a simple but effective mechanism for promoting cooperation under full anonymity. Voluntary participation allows individuals to adopt a risk-aversion strategy, termed loner. A loner refuses to participate in unpromising public enterprises and instead relies on a small but fixed pay-off. This system leads to a cyclic dominance of three pure strategies, cooperators, defectors and loners, but at the same time, there remain two considerable restrictions: the addition of loners cannot stabilize the dynamics and the time average pay-off for each strategy remains equal to the pay-off of loners. Here, we introduce probabilistic participation in PGGs from the standpoint of diversification of risk, namely simple mixed strategies with loners, and prove the existence of a dynamical regime in which the restrictions ono longer hold. Considering two kinds of mixed strategies associated with participants (cooperators or defectors) and non-participants (loners), we can recover all basic evolutionary dynamics of the two strategies: dominance; coexistence; bistability; and neutrality, as special cases depending on pairs of probabilities. Of special interest is that the expected pay-off of each mixed strategy exceeds the pay-off of loners at some interior equilibrium in the coexistence region.     

Coexistence of cooperation and defection in public goods games

The production of public goods by the contribution of individual volunteers is a social dilemma because an individual that does not volunteer can benefit from the public good produced by the contributions of others. Therefore it is generally believed that public goods can be produced only in the presence of repeated interactions (which allow reciprocation, reputation effects and punishment) or relatedness (kin selection). Cooperation, however, often occurs in the absence of iterations and relatedness. We show that when the production of a public good is a Volunteer's Dilemma, in which a fixed number of cooperators is necessary to produce the public good, cooperators and defectors persist in a mixed equilibrium, without iterations and without relatedness. This mixed equilibrium is absent in the N-person Prisoner's Dilemma, in which the public good is a linear function of the individual contributions. We also show that the Prisoner's Dilemma and the Volunteer's Dilemma are the two opposite extremes of a general public goods game, and that all intermediate cases can have a mixed equilibrium like the Volunteer's Dilemma. The coexistence of cooperators and defectors, therefore, is a typical outcome of most social dilemmas, which requires neither relatedness nor iterations.     

Defectors Can Create Conditions That Rescue Cooperation

Cooperation based on the production of costly common goods is observed throughout nature. This is puzzling, as cooperation is vulnerable to exploitation by defectors which enjoy a fitness advantage by consuming the common good without contributing fairly. Depletion of the common good can lead to population collapse and the destruction of cooperation. However, population collapse implies small population size, which, in a structured population, is known to favor cooperation. This happens because small population size increases variability in cooperator frequency across different locations. Since individuals in cooperator-dominated locations (which are most likely cooperators) will grow more than those in defector-dominated locations (which are most likely defectors), cooperators can outgrow defectors globally despite defectors outgrowing cooperators in each location. This raises the possibility that defectors can lead to conditions that sometimes rescue cooperation from defector-induced destruction. We demonstrate multiple mechanisms through which this can occur, using an individual-based approach to model stochastic birth, death, migration, and mutation events. First, during defector-induced population collapse, defectors occasionally go extinct before cooperators by chance, which allows cooperators to grow. Second, empty locations, either preexisting or created by defector-induced population extinction, can favor cooperation because they allow cooperator but not defector migrants to grow. These factors lead to the counterintuitive result that the initial presence of defectors sometimes allows better survival of cooperation compared to when defectors are initially absent. Finally, we find that resource limitation, inducible by defectors, can select for mutations adaptive to resource limitation. When these mutations are initially present at low levels or continuously generated at a moderate rate, they can favor cooperation by further reducing local population size. We predict that in a structured population, small population sizes precipitated by defectors provide a “built-in” mechanism for the persistence of cooperation.     

Cooperation in Microbial Populations: Theory and Experimental Model Systems

Cooperative behavior, the costly provision of benefits to others, is common across all domains of life. This review article discusses cooperative behavior in the microbial world, mediated by the exchange of extracellular products called public goods. We focus on model species for which the production of a public good and the related growth disadvantage for the producing cells are well described. To unveil the biological and ecological factors promoting the emergence and stability of cooperative traits we take an interdisciplinary perspective and review insights gained from both mathematical models and well-controlled experimental model systems. Ecologically, we include crucial aspects of the microbial life cycle into our analysis and particularly consider population structures where ensembles of local communities (subpopulations) continuously emerge, grow, and disappear again. Biologically, we explicitly consider the synthesis and regulation of public good production. The discussion of the theoretical approaches includes general evolutionary concepts, population dynamics, and evolutionary game theory. As a specific but generic biological example, we consider populations of Pseudomonas putida and its regulation and use of pyoverdines, iron scavenging molecules, as public goods. The review closes with an overview on cooperation in spatially extended systems and also provides a critical assessment of the insights gained from the experimental and theoretical studies discussed. Current challenges and important new research opportunities are discussed, including the biochemical regulation of public goods, more realistic ecological scenarios resembling native environments, cell-to-cell signaling, and multispecies communities.     

Microbial expansion–collision dynamics promote cooperation and coexistence on surfaces

Microbes colonizing a surface often experience colony growth dynamics characterized by an initial phase of spatial clonal expansion followed by collision between neighboring colonies to form potentially genetically heterogeneous boundaries. For species with life cycles consisting of repeated surface colonization and dispersal, these spatially explicit “expansion‐collision dynamics” generate periodic transitions between two distinct selective regimes, “expansion competition” and “boundary competition,” each one favoring a different growth strategy. We hypothesized that this dynamic could promote stable coexistence of expansion‐ and boundary‐competition specialists by generating time‐varying, negative frequency‐dependent selection that insulates both types from extinction. We tested this experimentally in budding yeast by competing an exoenzyme secreting “cooperator” strain (expansion–competition specialists) against nonsecreting “defectors” (boundary–competition specialists). As predicted, we observed cooperator–defector coexistence or cooperator dominance with expansion–collision dynamics, but only defector dominance otherwise. Also as predicted, the steady‐state frequency of cooperators was determined by colonization density (the average initial cell–cell distance) and cost of cooperation. Lattice‐based spatial simulations give good qualitative agreement with experiments, supporting our hypothesis that expansion–collision dynamics with costly public goods production is sufficient to generate stable cooperator–defector coexistence. This mechanism may be important for maintaining public–goods cooperation and conflict in microbial pioneer species living on surfaces.     

Altruistic Punishment and Between-Group Competition

Collective action, or the large-scale cooperation in the pursuit of public goods, has been suggested to have evolved through cultural group selection. Previous research suggests that the costly punishment of group members who do not contribute to public goods plays an important role in the resolution of collective action dilemmas. If large-scale cooperation sustained by the punishment of defectors has evolved through the mechanism of cultural group selection, two implications regarding costly punishment follow: (1) that people are more willing to punish defecting group members in a situation of intergroup competition than in a single-group social dilemma game and (2) that levels of "perverse" punishment of cooperators are not affected by intergroup competition. We find confirmation for these hypotheses. However, we find that the effect of intergroup competition on the punishment of defectors is fully explained by the stronger conditionality of punishment on expected punishment levels in the competition condition.     

Modelling the spatio-temporal dynamics of multi-species host-parasitoid interactions: heterogeneous patterns and ecological implications

A mathematical model of the spatio-temporal dynamics of a two host, two parasitoid system is presented. There is a coupling of the four species through parasitism of both hosts by one of the parasitoids. The model comprises a system of four reaction-diffusion equations. The underlying system of ordinary differential equations, modelling the host-parasitoid population dynamics, has a unique positive steady state and is shown to be capable of undergoing Hopf bifurcations, leading to limit cycle kinetics which give rise to oscillatory temporal dynamics. The stability of the positive steady state has a fundamental impact on the spatio-temporal dynamics: stable travelling waves of parasitoid invasion exhibit increasingly irregular periodic travelling wave behaviour when key parameter values are increased beyond their Hopf bifurcation point. These irregular periodic travelling waves give rise to heterogeneous spatio-temporal patterns of host and parasitoid abundance. The generation of heterogeneous patterns has ecological implications and the concepts of temporary host refuge and niche formation are considered.     

Pattern Formation,Long-Term Transients,and the Turing–Hopf Bifurcation in a Space- and Time-Discrete Predator–Prey System

Understanding of population dynamics in a fragmented habitat is an issue of considerable importance. A natural modelling framework for these systems is spatially discrete. In this paper, we consider a predator–prey system that is discrete both in space and time, and is described by a Coupled Map Lattice (CML). The prey growth is assumed to be affected by a weak Allee effect and the predator dynamics includes intra-specific competition. We first reveal the bifurcation structure of the corresponding non-spatial system. We then obtain the conditions of diffusive instability on the lattice. In order to reveal the properties of the emerging patterns, we perform extensive numerical simulations. We pay a special attention to the system properties in a vicinity of the Turing–Hopf bifurcation, which is widely regarded as a mechanism of pattern formation and spatiotemporal chaos in space-continuous systems. Counter-intuitively, we obtain that the spatial patterns arising in the CML are more typically stationary, even when the local dynamics is oscillatory. We also obtain that, for some parameter values, the system’s dynamics is dominated by long-term transients, so that the asymptotical stationary pattern arises as a sudden transition between two different patterns. Finally, we argue that our findings may have important ecological implications.     

Physico-chemical model of a protocell

A physico-chemical model of a self-maintaining unity or protocell is constructed on the basis of reaction and diffusion processes. The surface motion of the protocell is taken into account explicitly by a so-called Stefan condition, which leads to a nonlinear feedback to the reaction and diffusion processes. The spatio-temporal dynamics in the neighbourhood of the steady states is investigated in the framework of linear stability analysis with the use of an expansion in terms of spherical harmonicsY _l ^m . It is shown that modes with l2 become successively unstable with increasing nutrient supply. The leading instability with l=2 initiates a process of the nonlinear dynamics which is interpreted as the onset of division. A stabilizing effect of surface tension is also discussed.     

Stable public goods cooperation and dynamic social interactions in yeast

Despite long-standing theoretical interest in the evolution of cooperation, empirical data on the evolutionary dynamics of cooperative traits remain limited. Here, we investigate the evolutionary dynamics of a simple public goods cooperative trait, invertase secretion, using a long-term selection experiment in Saccharomyces cerevisiae. We show that average investment in cooperation remains essentially constant over a period of hundreds of generations in viscous populations with high relatedness. Average cooperation remains constant despite transient local selection for high and low levels of cooperation that generate dynamic social interactions. Natural populations of yeast show similar variation in social strategies, which is consistent with the existence of similar selective pressures on public goods cooperation in nature.