The transfer of evolved artificial immune system behaviours between small and large scale robotic platforms

Whitbrook, Amanda; Aickelin, Uwe; Garibaldi, Jonathan M.

Abstract

This paper demonstrates that a set of behaviours evolved in simulation on a miniature robot (epuck) can be transferred to a much larger scale platform (a virtual Pioneer P3-DX) that also differs in shape, sensor type, sensor configuration and programming interface. The chosen architecture uses a reinforcement learning-assisted genetic algorithm to evolve the epuck behaviours, which are encoded as a genetic sequence. This sequence is then used by the Pioneers as part of an adaptive, idiotypic artificial immune system (AIS) control architecture. Testing in three different simulated worlds shows that the Pioneer can use these behaviours to navigate and solve object-tracking tasks successfully, as long as its adaptive AIS mechanism is in place.

Citation

Whitbrook, A., Aickelin, U., & Garibaldi, J. M. (2009, October). The transfer of evolved artificial immune system behaviours between small and large scale robotic platforms. Presented at 9th International Conference, Evolution Artificielle, EA 2009, Strasbourg, France

• Presentation Conference Type: Edited Proceedings
• Conference Name: 9th International Conference, Evolution Artificielle, EA 2009
• Start Date: Oct 26, 2009
• End Date: Oct 28, 2009
• Online Publication Date: Oct 26, 2009
• Publication Date: Oct 26, 2009
• Deposit Date: Aug 11, 2011
• Publicly Available Date: Aug 11, 2011
• Peer Reviewed: Peer Reviewed
• Pages: 122–133
• Series Title: Lecture notes in computer science
• Series Number: 5975
• Series ISSN: 1611-3349
• Book Title: Artificial evolution
• ISBN: 9783642141553
• DOI: https://doi.org/10.1007/978-3-642-14156-0_11
• Public URL: https://nottingham-repository.worktribe.com/output/1013451
• Publisher URL: https://link.springer.com/chapter/10.1007/978-3-642-14156-0_11