Mimicking the behaviour of idiotypic AIS robot controllers using probabilistic systems
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...
| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2009
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| Online Access: | https://eprints.nottingham.ac.uk/1246/ |
| _version_ | 1848790569053061120 |
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| author | Whitbrook, Amanda Aickelin, Uwe Garibaldi, Jonathan M. |
| author_facet | Whitbrook, Amanda Aickelin, Uwe Garibaldi, Jonathan M. |
| author_sort | Whitbrook, Amanda |
| building | Nottingham Research Data Repository |
| collection | Online Access |
| description | 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. |
| first_indexed | 2025-11-14T18:14:42Z |
| format | Conference or Workshop Item |
| id | nottingham-1246 |
| institution | University of Nottingham Malaysia Campus |
| institution_category | Local University |
| language | English |
| last_indexed | 2025-11-14T18:14:42Z |
| publishDate | 2009 |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | nottingham-12462018-10-12T15:14:55Z https://eprints.nottingham.ac.uk/1246/ Mimicking the behaviour of idiotypic AIS robot controllers using probabilistic systems Whitbrook, Amanda Aickelin, Uwe Garibaldi, Jonathan M. 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. 2009 Conference or Workshop Item PeerReviewed application/pdf en https://eprints.nottingham.ac.uk/1246/1/whitbrook2009.pdf Whitbrook, Amanda, 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) |
| spellingShingle | Whitbrook, Amanda Aickelin, Uwe Garibaldi, Jonathan M. Mimicking the behaviour of idiotypic AIS robot controllers using probabilistic systems |
| title | Mimicking the behaviour of idiotypic AIS robot controllers using probabilistic systems |
| title_full | Mimicking the behaviour of idiotypic AIS robot controllers using probabilistic systems |
| title_fullStr | Mimicking the behaviour of idiotypic AIS robot controllers using probabilistic systems |
| title_full_unstemmed | Mimicking the behaviour of idiotypic AIS robot controllers using probabilistic systems |
| title_short | Mimicking the behaviour of idiotypic AIS robot controllers using probabilistic systems |
| title_sort | mimicking the behaviour of idiotypic ais robot controllers using probabilistic systems |
| url | https://eprints.nottingham.ac.uk/1246/ |