The use of probabilistic systems to mimic the behaviour of idiotypic AIS robot controllers

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Whitbrook, Amanda, Aickelin, Uwe and Garibaldi, Jonathan M. (2009) The use of probabilistic systems to mimic the behaviour of idiotypic AIS robot controllers. Journal of Systemics, Cybernetics and Informatics, 7 (6). pp. 72-79. ISSN 1690-4524

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Official URL: http://www.iiisci.org/journal/sci/Abstract.asp?var=&id=GS788HN

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:	Article
RIS ID:	https://nottingham-repository.worktribe.com/output/1015008
Schools/Departments:	University of Nottingham, UK > Faculty of Science > School of Computer Science
Depositing User:	Aickelin, Professor Uwe
Date Deposited:	24 Jan 2014 11:58
Last Modified:	04 May 2020 20:27
URI:	https://eprints.nottingham.ac.uk/id/eprint/1326

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