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This book constitutes the refereed proceedings of the 9th International Conference on Simulation of Adaptive Behavior, SAB 2006, held in Rome, Italy in September 2006. The 35 revised full papers and 35 revised poster papers presented were carefully reviewed and selected from 140 submissions. The papers are organized in topical sections on the animat approach to adaptive behaviour, perception and motor control, action selection and behavioral sequences, navigation and internal world models, learning and adaptation, evolution, collective and social behaviours, adaptive behavior in language and communication, and applied adaptive behavior.