Immunity-based framework for heterogeneous mobile robotic systems
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Artificial immune systems (AIS), biologically inspired from natural immune functions, can be reactive as well as adaptive in handling generic and varying pathogens, respectively. Researchers have used the immunological metaphors to solve science and engineering problems where unknown/unexpected scenarios are plausible. AIS can be a suitable choice for various robotic applications requiring reactive and/or deliberative control. This research aims to translate modern trends in immunology, to develop an immunity-based framework, to control a team of heterogenous robots on varying levels of task allocation and mutual interactions. The presented framework is designed to work as a multi-agent system in which safe environment is treated reactively through innate immunity, whereas unsafe situations invoke adaptive part of immune system, simultaneously. Heterogeneity is defined in terms of different sensing and/or actuation capabilities as well as in terms of different behavior-sets robot(s) possess. Task allocation ranges from primitive to advanced behaviors. Mutual interactions, on the other hand, range from simpler one-to-one interaction to mutual coordination. In this context, a new immunity-based algorithm has been developed & tested, combining innate and adaptive immunities, to regulate cell populations and corresponding maturations, along with internal health indicators, in order to effectively arbitrate behaviors/robots in a heterogenous robotic system, in environments that are dynamic and unstructured.