Mimicking the behaviour of idiotypic AIS robot controllers using probabilistic systems

Whitbrook, Amanda and Aickelin, Uwe and Garibaldi, Jonathan M. (2009) Mimicking the behaviour of idiotypic AIS robot controllers using probabilistic systems. In: 13th World Multi-Conference on Systemics, Cybernetics and Informatics: WMSCI 2009, 10-13 July 2009, Orlando, Florida, USA. (Unpublished)

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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.

Item Type: Conference or Workshop Item (Paper)
Schools/Departments: University of Nottingham UK Campus > Faculty of Science > School of Computer Science
Depositing User: Aickelin, Professor Uwe
Date Deposited: 24 Aug 2012 10:46
Last Modified: 24 Aug 2012 10:46
URI: http://eprints.nottingham.ac.uk/id/eprint/1246

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