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

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

Authors

Amanda Whitbrook amw@cs.nott.ac.uk

Uwe Aickelin uwe.aickelin@nottingham.ac.uk

Jonathan M. Garibaldi jmg@cs.nott.ac.uk



Contributors

Pierre Collet
Editor

N. Monmarché
Editor

P. Legrand
Editor

M. Schoenauer
Editor

E. Lutton
Editor

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.

Peer Reviewed Peer Reviewed
Issue 5975
Series Title Lecture notes in computer science
Book Title Artificial evolution: 9th International Conference = Evolution Artificielle, EA 2009: Strasbourg, France, October 26-28, 2009: revised selected papers
ISBN 9783642141553
APA6 Citation Whitbrook, A., Aickelin, U., & Garibaldi, J. M. The transfer of evolved artificial immune system behaviours between small and large scale robotic platforms. In N. Monmarché, P. Collet, P. Legrand, M. Schoenauer, & E. Lutton (Eds.), Artificial evolution: 9th International Conference = Evolution Artificielle, EA 2009: Strasbourg, France, October 26-28, 2009: revised selected papersSpringer
Publisher URL http://www.springer.com/computer/ai/book/978-3-642-14155-3
Copyright Statement Copyright information regarding this work can be found at the following address: http://eprints.nottingh.../end_user_agreement.pdf
Additional Information The original publication is available at www.springerlink.com

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Copyright Statement
Copyright information regarding this work can be found at the following address: http://eprints.nottingham.ac.uk/end_user_agreement.pdf





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