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Artificial immune-based swarm behaviors of distributed autonomous robotic systems

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3 Author(s)
Sang-Joon Sun ; Sch. of Electr. & Electron. Eng., Chung-Ang Univ., Seoul, South Korea ; Dong-Wook Lee ; Kwee-Bo Sim

We propose a method of cooperative control (T-cell modeling) and selection of group behavior strategy (B-cell modeling) based on the immune system in distributed autonomous robotic system (DARS). The immune system is a living body's self-protection and self-maintenance system. These features can be applied to decision making of optimal swarm behavior in a dynamically changing environment. For applying the immune system to DARS, a robot is regarded as a B-cell, each environmental condition as an antigen, a behavior strategy as an antibody and control parameter as a T-cell respectively. The executing process of proposed method is as follows. When the environmental condition changes, a robot selects an appropriate behavior strategy and its behavior strategy is stimulated and suppressed by other robots using communication. Finally much stimulated strategy is adopted as a swarm behavior strategy. This control scheme is based on clonal selection and the idiotopic network hypothesis. It is used for decision making of optimal swarm strategy. By T-cell modeling, adaptation ability of robot is enhanced in dynamic environments.

Published in:

Robotics and Automation, 2001. Proceedings 2001 ICRA. IEEE International Conference on  (Volume:4 )

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