We have been investigating a new behavior arbitration mechanism based
on the biological immune system. The behavior arbitration mechanism an
d the biological immune system share certain similarities since both s
ystems deal with various sensory inputs (antigens) through interaction
s among multiple competence modules (lymphocytes and/or antibodies). W
e have demonstrated the flexible arbitration abilities of our proposed
method; however, we have not shown a solution to the problem: how do
we prepare an appropriate repertoire of competence modules? In this pa
per, in order to construct an appropriate immune network without human
intervention, we try to incorporate an offline metadynamics function
into our previously proposed mechanism. The metadynamics function is a
n adaptation realized by varying the structure of the immune network.
To accomplish this function, we use a genetic algorithm with a devised
crossover operator. Finally, we verify our method by carrying out sim
ulations.