This paper is inspired by a vision of self-sufficient robot collectives that adapt autonomously to deal with their environment and to perform user-defined tasks at the same time. We introduce the
algorithm as a method of combining open-ended (to deal with the environment) and task-driven (to satisfy user demands) adaptation of robot controllers through evolution. A number of experiments with simulated e-pucks serve as proof of concept and show that with
, the robots adapt to cope with the environment and to perform multiple tasks. Our experiments indicate that
distributes the tasks evenly over the robot collective without undue emphasis on easy tasks.