Construction of a Decentralized Consensus-Making Network Based on the Immune System

Abstract

In recent artificial intelligent technology, much attention has been focused on Behavior-Based AI. However, the arbitration between competence modules in this approach is still an open question. On the other hand, recent studies on immunology have clarified that the immune system plays important roles to maintain its own system against hostile dynamically changing environments through mutual interaction among lymphocytes or antibodies. In this paper, we attempt to construct a robot with a new decentralized consensus-making mechanism based on the biological immune system. To confirm the feasibility of our proposed method, we apply to a dynamic action selection for an autonomous mobile robot in simulated environment. Additionally, we try to evolve the proposed consensus-making network through genetic operations.