An idiotypic immune network as a short-term learning architecture for mobile robots

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

Abstract

A combined Short-Term Learning (STL) and Long-Term Learning (LTL) approach to solving mobile robot navigation problems is presented and tested in both real and simulated environments. The LTL consists of rapid simulations
that use a Genetic Algorithm to derive diverse sets of behaviours. These sets are then transferred to an idiotypic Artificial Immune System (AIS), which forms the STL phase, and the system is said to be seeded. The combined
LTL-STL approach is compared with using STL only, and with using a handdesigned controller. In addition, the STL phase is tested when the idiotypic mechanism is turned off. The results provide substantial evidence that the best option is the seeded idiotypic system, i.e. the architecture that merges LTL with an idiotypic AIS for the STL. They also show that structurally different environments can be used for the two phases without compromising transferability.

Citation

Whitbrook, A., Aickelin, U., & Garibaldi, J. M. An idiotypic immune network as a short-term learning architecture for mobile robots. In P. Bentley, D. Lee, & S. Jung (Eds.), Artificial immune systems: 7th international conference, ICARIS 2008, Phuket, Thailand, August 10-13, 2008: proceedings. Springer

• Deposit Date: Jan 30, 2009
• Peer Reviewed: Peer Reviewed
• Issue: 5132
• Series Title: Lecture notes in computer science
• Book Title: Artificial immune systems: 7th international conference, ICARIS 2008, Phuket, Thailand, August 10-13, 2008: proceedings
• ISBN: 9783540850717
• Public URL: https://nottingham-repository.worktribe.com/output/1016327
• Publisher URL: http://www.springer.com/computer/foundations/book/978-3-540-85071-7