An immune-inspired swarm aggregation algorithm for self-healing swarm robotic systems

Timmis, Jon and Ismail, Amelia Ritahani and Bjerknes, Jan Dyre and Winfield, Alan F T (2016) An immune-inspired swarm aggregation algorithm for self-healing swarm robotic systems. Biosystems, 146. pp. 60-76. ISSN 0303-2647 E-ISSN 1872-8324

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Abstract

Swarm robotics is concerned with the decentralised coordination of multiple robots having only limited communication and interaction abilities. Although fault tolerance and robustness to individual robot failures have often been used to justify the use of swarm robotic systems, recent studies have shown that swarm robotic systems are susceptible to certain types of failure. In this paper we propose an approach to self-healing swarm robotic systems and take inspiration from the process of granuloma formation,a process of containment and repair found in the immune system. We use a case study of a swarm performing team work where previous works have demonstrated that partially failed robots have the most detrimental effect on overall swarm behaviour. We have developed an immune inspired approach that permits the recovery from certain failure modes during operation of the swarm, overcoming issues that effect swarm behaviour associated with partially failed robots.

Item Type:	Article (Journal)
Additional Information:	4296/51378
Uncontrolled Keywords:	Swarm robotics, artificial immune systems,self-repair
Subjects:	Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Kulliyyahs/Centres/Divisions/Institutes (Can select more than one option. Press CONTROL button):	Kulliyyah of Information and Communication Technology > Department of Computer Science Kulliyyah of Information and Communication Technology > Department of Computer Science
Depositing User:	Amelia Ritahani Ismail
Date Deposited:	02 Aug 2016 10:49
Last Modified:	17 Jan 2017 09:13
URI:	http://irep.iium.edu.my/id/eprint/51378

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