Mimicking the behaviour of idiotypic AIS robot controllers using probabilistic systems

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

Abstract

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 the idiotypic system, but remains unable to match it in terms of all round performance.

Citation

Whitbrook, A., Whitbrook, A. M., Aickelin, U., & Garibaldi, J. M. (2009, July). Mimicking the behaviour of idiotypic AIS robot controllers using probabilistic systems. Paper presented at 13th World Multi-Conference on Systemics, Cybernetics and Informatics: WMSCI 2009

• Presentation Conference Type: Conference Paper (unpublished)
• Conference Name: 13th World Multi-Conference on Systemics, Cybernetics and Informatics: WMSCI 2009
• Start Date: Jul 10, 2009
• End Date: Jul 13, 2009
• Deposit Date: Oct 12, 2018
• Publicly Available Date: Oct 12, 2018
• Public URL: https://nottingham-repository.worktribe.com/output/1163747