Real-world transfer of evolved artificial immune system behaviours between small and large scale robotic platforms
In mobile robotics, a solid test for adaptation is the ability of a control system to function not only in a diverse number of physical environments, but also on a number of different robotic platforms. This paper demonstrates that a set of behaviours evolved in simulation on a miniature robot (e...
| Main Authors: | , , |
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| Format: | Article |
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Springer
2010
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| Online Access: | https://eprints.nottingham.ac.uk/1358/ |
| _version_ | 1848790592452034560 |
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| author | Whitbrook, Amanda Aickelin, Uwe Garibaldi, Jonathan |
| author_facet | Whitbrook, Amanda Aickelin, Uwe Garibaldi, Jonathan |
| author_sort | Whitbrook, Amanda |
| building | Nottingham Research Data Repository |
| collection | Online Access |
| description | In mobile robotics, a solid test for adaptation is
the ability of a control system to function not only in a
diverse number of physical environments, but also on a
number of different robotic platforms. This paper demonstrates that a set of behaviours evolved in simulation on a miniature robot (epuck) can be transferred to a much larger-scale platform (Pioneer), both in simulation and in the real world. The chosen architecture uses artificial evolution of epuck behaviours to obtain a genetic sequence, which is then employed to seed an idiotypic, artificial immune system (AIS) on the Pioneers. Despite numerous hardware and software differences between the platforms, navigation and target-finding experiments show that the evolved behaviours transfer very well to the larger robot when the idiotypic AIS technique is used. In contrast, transferability is poor when reinforcement learning alone is used, which validates the adaptability of the chosen architecture. |
| first_indexed | 2025-11-14T18:15:04Z |
| format | Article |
| id | nottingham-1358 |
| institution | University of Nottingham Malaysia Campus |
| institution_category | Local University |
| last_indexed | 2025-11-14T18:15:04Z |
| publishDate | 2010 |
| publisher | Springer |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | nottingham-13582020-05-04T20:26:03Z https://eprints.nottingham.ac.uk/1358/ Real-world transfer of evolved artificial immune system behaviours between small and large scale robotic platforms Whitbrook, Amanda Aickelin, Uwe Garibaldi, Jonathan In mobile robotics, a solid test for adaptation is the ability of a control system to function not only in a diverse number of physical environments, but also on a number of different robotic platforms. This paper demonstrates that a set of behaviours evolved in simulation on a miniature robot (epuck) can be transferred to a much larger-scale platform (Pioneer), both in simulation and in the real world. The chosen architecture uses artificial evolution of epuck behaviours to obtain a genetic sequence, which is then employed to seed an idiotypic, artificial immune system (AIS) on the Pioneers. Despite numerous hardware and software differences between the platforms, navigation and target-finding experiments show that the evolved behaviours transfer very well to the larger robot when the idiotypic AIS technique is used. In contrast, transferability is poor when reinforcement learning alone is used, which validates the adaptability of the chosen architecture. Springer 2010 Article NonPeerReviewed Whitbrook, Amanda, Aickelin, Uwe and Garibaldi, Jonathan (2010) Real-world transfer of evolved artificial immune system behaviours between small and large scale robotic platforms. Evolutionary Intelligence, 3 (3-4). pp. 123-136. ISSN 1864-5909 http://www.springerlink.com/content/n602277605742412/ doi:10.1007/s12065-010-0039-7 doi:10.1007/s12065-010-0039-7 |
| spellingShingle | Whitbrook, Amanda Aickelin, Uwe Garibaldi, Jonathan Real-world transfer of evolved artificial immune system behaviours between small and large scale robotic platforms |
| title | Real-world transfer of evolved artificial immune system behaviours between small and large scale robotic platforms |
| title_full | Real-world transfer of evolved artificial immune system behaviours between small and large scale robotic platforms |
| title_fullStr | Real-world transfer of evolved artificial immune system behaviours between small and large scale robotic platforms |
| title_full_unstemmed | Real-world transfer of evolved artificial immune system behaviours between small and large scale robotic platforms |
| title_short | Real-world transfer of evolved artificial immune system behaviours between small and large scale robotic platforms |
| title_sort | real-world transfer of evolved artificial immune system behaviours between small and large scale robotic platforms |
| url | https://eprints.nottingham.ac.uk/1358/ https://eprints.nottingham.ac.uk/1358/ https://eprints.nottingham.ac.uk/1358/ |