Two-timescale learning using idiotypic behaviour mediation for a navigating mobile robot

Whitbrook, Amanda and Aickelin, Uwe and Garibaldi, Jonathan M. (2010) Two-timescale learning using idiotypic behaviour mediation for a navigating mobile robot. Applied Soft Computing, 10 (3). pp. 876-887. ISSN 1568-4946

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Official URL: http://dx.doi.org/10.1016/j.asoc.2009.10.005

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 the real and virtual domains. The LTL phase consists of rapid simulations that use a genetic algorithm to derive diverse sets of behaviours, encoded as variable sets of attributes, and the STL phase is an idiotypic artificial immune system. Results from the LTL phase show that sets of behaviours develop very rapidly, and significantly greater diversity is obtained when multiple autonomous populations are used, rather than a single one. The architecture is assessed under various scenarios, including removal of the LTL phase and switching off the idiotypic mechanism in the STL phase. The comparisons provide substantial evidence that the best option is the inclusion of both the LTL phase and the idiotypic system. In addition, this paper shows that structurally different environments can be used for the two phases without compromising transferability.

Item Type:Article
Additional Information:NOTICE: this is the author’s version of a work that was accepted for publication in Applied Soft Computing. Changes resulting from the publishing process, such as peer review, editing, corrections, structural formatting, and other quality control mechanisms may not be reflected in this document. Changes may have been made to this work since it was submitted for publication. A definitive version was subsequently published in Applied Soft Computing, 10, 3, (2010). doi: 10.1016/j.asoc.2009.10.005
Schools/Departments:Faculty of Science > School of Computer Science
ID Code:1322
Deposited By:Aickelin, Professor Uwe
Deposited On:10 Oct 2012 16:30
Last Modified:10 Oct 2012 16:30

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