Immunoid: an architecture for behavior arbitration based on the immune networks

Conventional artificial intelligent (AI) systems have been criticized for their brittleness under hostile/dynamic changing environments. Therefore, 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 on 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 a behavior arbitration of an autonomous mobile robot as a practical example. To verify the feasibility of our method, we carry out some simulations. In addition, we propose an adaptation mechanism that can be used to construct a suitable immune network for adequate action selection