Immunology-directed methods for distributed robotics: a novel immunity-based architecture for robust control and coordination

Surya P. N. Singh; Scott M. Thayer

doi:10.1117/12.457453

18 February 2002 Immunology-directed methods for distributed robotics: a novel immunity-based architecture for robust control and coordination

Surya P. N. Singh, Scott M. Thayer

Author Affiliations +

Proceedings Volume 4573, Mobile Robots XVI; (2002) https://doi.org/10.1117/12.457453
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States

Abstract

This paper presents a novel algorithmic architecture for the coordination and control of large scale distributed robot teams derived from the constructs found within the human immune system. Using this as a guide, the Immunology-derived Distributed Autonomous Robotics Architecture (IDARA) distributes tasks so that broad, all-purpose actions are refined and followed by specific and mediated responses based on each unit's utility and capability to timely address the system's perceived need(s). This method improves on initial developments in this area by including often overlooked interactions of the innate immune system resulting in a stronger first-order, general response mechanism. This allows for rapid reactions in dynamic environments, especially those lacking significant a priori information. As characterized via computer simulation of a of a self-healing mobile minefield having up to 7,500 mines and 2,750 robots, IDARA provides an efficient, communications light, and scalable architecture that yields significant operation and performance improvements for large-scale multi-robot coordination and control.

Citation Download Citation

Surya P. N. Singh and Scott M. Thayer "Immunology-directed methods for distributed robotics: a novel immunity-based architecture for robust control and coordination", Proc. SPIE 4573, Mobile Robots XVI, (18 February 2002); https://doi.org/10.1117/12.457453

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