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...
Saved in:
| Main Authors: | , , |
|---|---|
| Format: | Conference or Workshop Item |
| Language: | English |
| Published: |
2010
|
| Subjects: | |
| Online Access: | http://eprints.utem.edu.my/id/eprint/181/1/razali2010-NaBIC-refined.pdf http://eprints.utem.edu.my/id/eprint/181/ http://dx.doi.org/10.1109/NABIC.2010.5716358 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| 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. |
|---|