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CORR
2010
Springer

The Use of Probabilistic Systems to Mimic the Behaviour of Idiotypic AIS Robot Controllers

13 years 10 months ago
The Use of Probabilistic Systems to Mimic the Behaviour of Idiotypic AIS Robot Controllers
Previous work has shown that robot navigation systems that employ an architecture based upon the idiotypic network theory of the immune system have an advantage over control techniques that rely on reinforcement learning only. This is thought to be a result of intelligent behaviour selection on the part of the idiotypic robot. In this paper an attempt is made to imitate idiotypic dynamics by creating controllers that use reinforcement with a number of different probabilistic schemes to select robot behaviour. The aims are to show that the idiotypic system is not merely performing some kind of periodic random behaviour selection, and to try to gain further insight into the processes that govern the idiotypic mechanism. Trials are carried out using simulated Pioneer robots that undertake navigation exercises. Results show that a scheme that boosts the probability of selecting highly-ranked alternative behaviours to 50% during stall conditions comes closest to achieving the properties of...
Amanda M. Whitbrook, Uwe Aickelin, Jonathan M. Gar
Added 09 Dec 2010
Updated 09 Dec 2010
Type Journal
Year 2010
Where CORR
Authors Amanda M. Whitbrook, Uwe Aickelin, Jonathan M. Garibaldi
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