An artificial immune system for self-healing in swarm robotic systems
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 ha...
| Main Authors: | , , , |
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| Other Authors: | |
| Format: | Conference or Workshop Item |
| Language: | English English |
| Published: |
Springer International Publishing
2015
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/44881/ http://irep.iium.edu.my/44881/ http://irep.iium.edu.my/44881/ http://irep.iium.edu.my/44881/7/Amelia-Artificial-robotic-completed.pdf http://irep.iium.edu.my/44881/10/44881_An%20artificial%20immune%20system%20for%20self-healing_Scopus.pdf |
| Summary: | 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.
In response this, 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. |
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