a set $Ab$s from $IRep$ selected based on a fitness criterion can also be shared.

Initially, the $IRep$ within a robot is a *tabula rasa*. As mentioned, the sensor values sampled from the environment form the epitope $Ep$ of the antigen $Ag$. As soon as $Ep$ of the current $Ag$ has been sampled, the distances ($\psi$) between this $Ep$ and the $Pt$s of all the $Ab$s in $IRep$ are calculated using the $measureAffinity$ function (line \[measureaff\] of Algorithm \[algo:1\]). The $Ab$s for which the $\psi$ values are less than $\epsilon$ are made to be stimulated (using $agStimulation$ function) by the antigen $Ag$ and are then appended to a list of candidate antibodies ($CandAbs$). As in the BIS, the $AgSti$ raises the concentration $C$ of all antibodies within the $CandAbs$ by an amount proportional to their respective $\psi$ values. In the beginning, since no $Ab$s exist in the $IRep$, a new $Ab$ is created whose $Pt$ is initialized to $Ep$ and the weights of the associated $Ctr$ are randomly set (line \[createnew\]). The ID is provided sequentially, starting with 1. The value of its $C$ is set to an initial non-zero minimum value lest it be discarded immediately. Antibodies with $C$ 