Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Cooperative Strategies and Swarm Behavior in Distributed Autonomous Robotic Systems Based on Artificial Immune System

인공 면역계 기반 자율분산로봇 시스템의 협조 전략과 군행동

  • Sim, Kwee-Bo (Dept.of Electronics Electric Engineering, Chungang University) ;
  • Lee, Dong-Wook (Dept.of Electronics Electric Engineering, Chungang University) ;
  • Sun, Sang-Joon (Dept.of Electronics Electric Engineering, Chungang University)
  • 심귀보 (중앙대학교 전자전기공학부) ;
  • 이동욱 (중앙대학교 전자전기공학부) ;
  • 선상준 (중앙대학교 전자전기공학부)
  • Published : 2000.12.01
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Abstract

In this paper, we propose a method of cooperative control (T-cell modeling) and selection of group behavior strategy (B-cell modeling) based on immune system in distributed autonomous robotic system (DARS). An immune system is the living bodys self-protection and self-maintenance system. these features can be applied to decision making of the optimal swarm behavior in a dynamically changing environment. For applying 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. When the environmental condition (antigen) changes, a robot selects an appropriate behavior strategy (antibody). And its behavior strategy is stimulated and suppressed by other robots using communication (immune network). Finally, much stimulated strategy is adopted as a swarm behavior strategy. This control scheme is based on clonal selection and immune network hypothesis, and it is used for decision making of the optimal swarm strategy. Adaptation ability of the robot is enhanced by adding T-cell model as a control parameter in dynamic environments.

Keywords

References

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