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Summary: AN IDIOTYPIC IMMUNE NETWORK FOR MOBILE
ROBOT CONTROL
Submitted September 2005, in partial fulfilment of the conditions of the
award of the degree M.Sc. in Management of IT
Amanda Marie Whitbrook
School of Computer Science and Information Technology
University of Nottingham
I hereby declare that this dissertation is all my own work, except as indicated in the text:
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ACKNOWLEDGEMENTS
My sincerest thanks to my supervisors, Uwe Aickelin and Jamie Twycross for all their
help and support. Thanks also to my son, Charlie for filming and editing footage of
the Pioneer robot carrying out its task.
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ABSTRACT
Two behaviour based controllers for mobile robots are described and their abilities to
solve highly confined goal-seeking problems are compared, both using a physical
robot and a simulator. The first code implements fixed responses to environmental
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