An Idiotypic Immune Network as a Short-Term Learning Architecture for Mobile Robots
ICARIS '08 Proceedings of the 7th international conference on Artificial Immune Systems
ICARIS '09 Proceedings of the 8th International Conference on Artificial Immune Systems
Object tracking with an AIS-inspired algorithm
CEC'09 Proceedings of the Eleventh conference on Congress on Evolutionary Computation
Two-timescale learning using idiotypic behaviour mediation for a navigating mobile robot
Applied Soft Computing
Structure versus function: a topological perspective on immune networks
Natural Computing: an international journal
EA'09 Proceedings of the 9th international conference on Artificial evolution
Principles and methods of artificial immune system vaccination of learning systems
ICARIS'11 Proceedings of the 10th international conference on Artificial immune systems
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Jerne's idiotypic-network theory postulates that the immune response involves interantibody 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 nonidiotypic systems. This paper aims to address these issues. A method for integrating an idiotypic AIS network with a reinforcement-learning (RL)-based control system 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.