Idiotypic Immune Networks in Mobile Robot Control

Whitbrook, Amanda and Aickelin, Uwe and Garibaldi, Jon (2007) Idiotypic Immune Networks in Mobile Robot Control. IEEE Transactions on Systems, Man and Cybernetics, Part B . (In Press)

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Abstract

Jerne's idiotypic network theory postulates that the immune response involves inter-antibody stimulation and suppression as well as matching to antigens. The theory has proved the most popular Artificial Immune System (AIS) model for incorporation into behavior-based robotics but guidelines for implementing idiotypic selection are scarce. Furthermore, the direct effects of employing the technique have not been demonstrated in the form of a comparison with non-idiotypic systems. This paper aims to address these issues. A method for integrating an idiotypic AIS network with a Reinforcement Learning based control system (RL) is described and the mechanisms underlying antibody stimulation and suppression are explained in detail. Some hypotheses that account for the network advantage are put forward and tested using three systems with increasing idiotypic complexity. The basic RL, a simplified hybrid AIS-RL that implements idiotypic selection independently of derived concentration levels and a full hybrid AIS-RL scheme are examined. The test bed takes the form of a simulated Pioneer robot that is required to navigate through maze worlds detecting and tracking door markers.

Item Type: Article
Additional Information: This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible."
Uncontrolled Keywords: network theory,Artificial Immune System, ais
Schools/Departments: University of Nottingham UK Campus > Faculty of Science > School of Computer Science
Depositing User: Aickelin, Professor Uwe
Date Deposited: 02 Oct 2007
Last Modified: 30 Oct 2007 15:33
URI: http://eprints.nottingham.ac.uk/id/eprint/560

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