An immunological approach to dynamic behavior control for autonomous mobile robots

Emotional Intervention on Stigmergy Based Foraging Behaviour of Immune Network Driven Mobile Robots

“…Farmer et al (1986) have first suggested an abstracted mathematical model of Jerne's immune network theory. In robotics Ishiguro et al (1995b) and Watanabe et al (1999) have developed a dynamic decentralized behaviour arbitration mechanism based on immune networks. In their approach "intelligence" is expected to emerge from interactions among agents (competence modules) and between a robot and its www.intechopen.com environment.…”

Immune Navigation Control for Stigmergy Based Foraging Behaviour of Autonomous Mobile Robots

“…the immune system provides a parallel distributed processing architecture. (Ishiguro, et al, 1995a).…”

“…At the current situation, for example, distance and direction to the detected obstacle or to the goal works as an antigen, the competence module (simple behaviour/action) can be considered as an antibody, and the interaction between modules is presented as stimulation/suppression between antibodies. The concentration a t i ( ) of i -th antibody is calculated as (Ishiguro, et al, 1995a):…”

“…, (2) where N is the number of antibodies, by (Ishiguro, et al, 1995a): and 0 to the rest. Therefore, the robot's simulated detectors discover two types of antigens (obstacle-oriented antigens and goal-oriented ones), and each antigen has five-bit epitope.…”

Compromising Algorithmicity and Plasticity in Autonomous Agent Control Architectures: The Autonomous Cell

“…The biological adaptation systems in general (including the immune system) have been vaguely proposed as an inspiration source for the development of process control systems (Renders & Hanus 1992). The immune system paradigm is used in the action selection mechanism of (Ishiguro et al 1995), which is a direct descendant of Maes' mechanism (1991). Our mechanism has been developed with the aim to reveal principles of cellular organization rather than to provide solutions to engineering problems ; the navigation problem has only served to illustrate these principles.…”