A Refined Immune Systems Inspired Model For Multi-robot Shepherding
In this paper, basic biological immune systems and their responses to external elements to maintain an organism's health state are described. The relationship between immune systems and multi-robot systems are also discussed. The proposed algorithm is based on immune network theories that have...
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| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2010
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| Subjects: | |
| Online Access: | http://eprints.utem.edu.my/id/eprint/20200/1/A%20REFINED%20IMMUNE%20SYSTEMS%20INSPIRED%20MODEL%20FOR%20MULTI-ROBOT%20SHEPHERDING-SAZALINSYAH%20RAZALI-MAK%2000441%20RAF.pdf http://eprints.utem.edu.my/id/eprint/20200/ |
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| Summary: | In this paper, basic biological immune systems and their responses to external elements to maintain an organism's health state are described. The relationship between immune systems and multi-robot systems are also discussed. The proposed algorithm is based on immune network theories that have many similarities with the multi-robot systems domain. The paper describes a refinement of the memory-based immune network that enhances a robot's action-selection process. The refined model; which is based on the Immune Network T-cell-regulated with Memory (INT-M) model; is applied onto the dog and sheep scenario. The refinements involves the low-level behaviors of the robot dogs, namely Shepherds' Formation and Shepherds' Approach. The shepherds would form a line behind the group of sheep and also obey a safe zone of each sheep, thus achieving better control of the flock. Simulation experiments are conducted on the Player/Stage platform. |
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