Immunoid: An immunological approach to decentralized behavior Arbitration of Autonomous mobile Robots

Akio Ishiguro, Toshiyuki Kondo, Yuji Watanabe, Yoshiki Uchikawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Citations (Scopus)

Abstract

Conventional artificial intelligent (AI) system have been criticized for its brittleness under hostile/dynamic changing environments. Therefore, recently much attention has been focused on the reactive planning systems such as behavior-based AI. However, in the behavior-based AI approaches, how to construct a mechanism that realizes adequate arbitration among competence modules is still an open question. In this paper, we propose a new decentralized consensus-making system inspired from the biological immune system, And we apply our proposed method to behavior arbitration of an autonomous mobile robot as a practical example. To verify the feasibility of our method, we carry out some experiments. In addition, we propose an adaptation mechanism, and try to construct a suitable immune network for adequate action selection.

Original languageEnglish
Title of host publicationParallel Problem Solving from Nature - PPSN IV - International Conference on Evolutionary Computation - The 4th International Conference on Parallel Problem Solving from Nature, Proceedings
EditorsHans-Michael Voigt, Ingo Rechenberg, Hans-Paul Schwefel, Hans-Michael Voigt, Werner Ebeling
PublisherSpringer-Verlag
Pages666-675
Number of pages10
ISBN (Print)354061723X, 9783540617235
DOIs
Publication statusPublished - 1996 Jan 1
Externally publishedYes
EventInternational Conference on Evolutionary Computation - 4th International Conference on Parallel Problem Solving from Nature, PPSN 1996 - Berlin, Germany
Duration: 1996 Sep 221996 Sep 26

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume1141
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

OtherInternational Conference on Evolutionary Computation - 4th International Conference on Parallel Problem Solving from Nature, PPSN 1996
CountryGermany
CityBerlin
Period96/9/2296/9/26

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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    Ishiguro, A., Kondo, T., Watanabe, Y., & Uchikawa, Y. (1996). Immunoid: An immunological approach to decentralized behavior Arbitration of Autonomous mobile Robots. In H-M. Voigt, I. Rechenberg, H-P. Schwefel, H-M. Voigt, & W. Ebeling (Eds.), Parallel Problem Solving from Nature - PPSN IV - International Conference on Evolutionary Computation - The 4th International Conference on Parallel Problem Solving from Nature, Proceedings (pp. 666-675). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 1141). Springer-Verlag. https://doi.org/10.1007/3-540-61723-X_1030