Robot with a decentralized consensus-making mechanism based on the immune system

Akio Ishiguro, Yuji Watanabe, Toshiyuki Kondo, Yasuhiro Shirai, Yoshiki Uchikawa

Research output: Contribution to conferencePaper

25 Citations (Scopus)

Abstract

In recent years much attention has been focused on behavior-based artificial intelligence (AI), which has already demonstrated its robustness and flexibility against dynamically changing world. However, in this approach, the followings have not yet been resolved: how do we construct an appropriate arbitration mechanism, and how do we prepare appropriate competence modules. In this paper, to overcome these problems, we propose a new decentralized consensus-making system inspired by the biological immune system. And we apply our proposed method to behavior arbitration for an autonomous mobile robot, namely garbage collecting problem that takes into account of the concept of self-sufficiency. To verify the feasibility of our method, we carry out some simulations. In addition, we investigate two types of adaptation mechanisms, and try to evolve the proposed artificial immune network using reinforcement signals.

Original languageEnglish
Pages231-237
Number of pages7
Publication statusPublished - 1997 Jan 1
Externally publishedYes
EventProceedings of the 1997 3rd International Symposium on Autonomous Decentralized Systems, ISADS'97 - Berlin, Ger
Duration: 1997 Apr 91997 Apr 11

Other

OtherProceedings of the 1997 3rd International Symposium on Autonomous Decentralized Systems, ISADS'97
CityBerlin, Ger
Period97/4/997/4/11

ASJC Scopus subject areas

  • Hardware and Architecture
  • Engineering (miscellaneous)

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  • Cite this

    Ishiguro, A., Watanabe, Y., Kondo, T., Shirai, Y., & Uchikawa, Y. (1997). Robot with a decentralized consensus-making mechanism based on the immune system. 231-237. Paper presented at Proceedings of the 1997 3rd International Symposium on Autonomous Decentralized Systems, ISADS'97, Berlin, Ger, .