In recent years, in the fields of artificial intelligence (Al), much attention has been focused on the reactive planning approach such as behavior-based AI, new AI, and so on. However, in these approaches, there is some criticism that their arbitration among competence modules are fixed against dynamically changing environments. On the other hand, biological information processing systems have various interesting characteristics viewed from an engineering standpoint. Among them, the immune system plays an important role in maintaining its own system against dynamically changing environments. Based on this fact, we have been investigating a new decentralized consensus-making system for the behavior arbitration of autonomous mobile robots inspired from the idiotypic network hypothesis in immunology. In this paper, we report the useful_??_ss of our proposed method by carrying out some computer simulations and real experiments.
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