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If this were to happen, which I doubt, I think this would just just be as a sort of thank you for Sega making Lost World exclusive to Wii U. Yes, Sega would demand royalties but these would be marginal; Sega would benefit because of improved Brand exposure; several million people(mainly kids) will be exposed to Sonic, who will buy Sonic games.

http://www.nintendolife.com/news/2012/07/sega_wants_sonic_to_be_the_next_hello_kitty

As the article above shows, Sega really wants exposure for Sonic. Sega's existence depends on the Blue Hedgehog remaining an icon.