Immune Inspired Cooperative Mechanism with Refined Low-level Behaviors for Multi-Robot Shepherding
In this paper, immune systems and its relationships with multi-robot shepherding problems are discussed. The proposed algorithm is based on immune network theories that have many similarities with the multi-robot systems domain. The underlying immune inspired cooperative mechanism of the algorithm i...
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| Format: | Article |
| Language: | en |
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World Scientific Publishing
2012
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| Online Access: | http://eprints.utem.edu.my/id/eprint/183/1/razali2012-IJCIA-immune.pdf http://eprints.utem.edu.my/id/eprint/183/ http://dx.doi.org/10.1142/S1469026812500071 |
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| _version_ | 1832715937920319488 |
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| author | Razali, Sazalinsyah Meng, Qinggang Yang, Shuang-Hua |
| author_facet | Razali, Sazalinsyah Meng, Qinggang Yang, Shuang-Hua |
| author_sort | Razali, Sazalinsyah |
| building | UTEM Library |
| collection | Institutional Repository |
| content_provider | Universiti Teknikal Malaysia Melaka |
| content_source | UTEM Institutional Repository |
| continent | Asia |
| country | Malaysia |
| description | In this paper, immune systems and its relationships with multi-robot shepherding problems are discussed. The proposed algorithm is based on immune network theories that have many similarities with the multi-robot systems domain. The underlying immune inspired cooperative mechanism of the algorithm is simulated and evaluated. The paper also describes a refinement of the memory-based immune network that enhances a robot’s action-selection process. A refined model, which is based on the Immune Network T-cell-regulated—with Memory (INT-M) model, is applied to the dog-sheep scenario. The refinements involves the low-level behaviors of the robot dogs, namely shepherds’ formation and shepherds’ approach. These behaviors would make the shepherds to form a line behind the group of sheep and also obey a safety zone of each flock, thus achieving better control of the flock and minimize flock separation occurrences. Simulation experiments are conducted on the Player/Stage robotics platform. |
| format | Article |
| id | my.utem.eprints-183 |
| institution | Universiti Teknikal Malaysia Melaka |
| language | en |
| publishDate | 2012 |
| publisher | World Scientific Publishing |
| record_format | eprints |
| spelling | my.utem.eprints-1832021-09-29T00:06:07Z http://eprints.utem.edu.my/id/eprint/183/ Immune Inspired Cooperative Mechanism with Refined Low-level Behaviors for Multi-Robot Shepherding Razali, Sazalinsyah Meng, Qinggang Yang, Shuang-Hua QA75 Electronic computers. Computer science QR180 Immunology In this paper, immune systems and its relationships with multi-robot shepherding problems are discussed. The proposed algorithm is based on immune network theories that have many similarities with the multi-robot systems domain. The underlying immune inspired cooperative mechanism of the algorithm is simulated and evaluated. The paper also describes a refinement of the memory-based immune network that enhances a robot’s action-selection process. A refined model, which is based on the Immune Network T-cell-regulated—with Memory (INT-M) model, is applied to the dog-sheep scenario. The refinements involves the low-level behaviors of the robot dogs, namely shepherds’ formation and shepherds’ approach. These behaviors would make the shepherds to form a line behind the group of sheep and also obey a safety zone of each flock, thus achieving better control of the flock and minimize flock separation occurrences. Simulation experiments are conducted on the Player/Stage robotics platform. World Scientific Publishing 2012-03 Article PeerReviewed text en cc_by_nc_nd http://eprints.utem.edu.my/id/eprint/183/1/razali2012-IJCIA-immune.pdf Razali, Sazalinsyah and Meng, Qinggang and Yang, Shuang-Hua (2012) Immune Inspired Cooperative Mechanism with Refined Low-level Behaviors for Multi-Robot Shepherding. International Journal of Computational Intelligence and Applications, 11 (1). pp. 1250007-1250022. ISSN 1469-0268 http://dx.doi.org/10.1142/S1469026812500071 10.1142/S1469026812500071 |
| spellingShingle | QA75 Electronic computers. Computer science QR180 Immunology Razali, Sazalinsyah Meng, Qinggang Yang, Shuang-Hua Immune Inspired Cooperative Mechanism with Refined Low-level Behaviors for Multi-Robot Shepherding |
| title | Immune Inspired Cooperative Mechanism with Refined Low-level Behaviors for Multi-Robot Shepherding |
| title_full | Immune Inspired Cooperative Mechanism with Refined Low-level Behaviors for Multi-Robot Shepherding |
| title_fullStr | Immune Inspired Cooperative Mechanism with Refined Low-level Behaviors for Multi-Robot Shepherding |
| title_full_unstemmed | Immune Inspired Cooperative Mechanism with Refined Low-level Behaviors for Multi-Robot Shepherding |
| title_short | Immune Inspired Cooperative Mechanism with Refined Low-level Behaviors for Multi-Robot Shepherding |
| title_sort | immune inspired cooperative mechanism with refined low-level behaviors for multi-robot shepherding |
| topic | QA75 Electronic computers. Computer science QR180 Immunology |
| url | http://eprints.utem.edu.my/id/eprint/183/1/razali2012-IJCIA-immune.pdf http://eprints.utem.edu.my/id/eprint/183/ http://dx.doi.org/10.1142/S1469026812500071 |
| url_provider | http://eprints.utem.edu.my/ |