Immune systems inspired multi-robot cooperative shepherding

Sazalinsyah , Razali (2014) Immune systems inspired multi-robot cooperative shepherding. PhD thesis, UTeM.

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Certain tasks require multiple robots to cooperate in order to solve them. The main problem with multi-robot systems is that they are inherently complex and usually situated in a dynamic environment. Now, biological immune systems pos- sess a natural distributed control and exhibit real-time adaptivity, properties that are required to solve problems in multi-robot systems. In this thesis, biological immune systems and their response to external elements to maintain an organ- ism's health state are researched. The objective of this research is to propose immune-inspired approaches to cooperation, to establish an adaptive cooperation algorithm, and to determine the re�nements that can be applied in relation to co- operation. Two immune-inspired models that are based on the immune network theory are proposed, namely the Immune Network T-cell-regulated|with Mem- ory (INT-M) and the Immune Network T-cell-regulated|Cross-Reactive (INT-X) models. The INT-M model is further studied where the results have suggested that the model is feasible and suitable to be used, especially in the multi-robot cooperative shepherding domain. The Collecting task in the RoboShepherd sce- nario and the application of the INT-M algorithm for multi-robot cooperation are discussed. This scenario provides a highly dynamic and complex situation that has wide applicability in real-world problems. The underlying `mechanism of cooperation' in the immune inspired model (INT-M) is veri�ed to be adaptive in this chosen scenario. Several multi-robot cooperative shepherding factors are studied and re�nements proposed, notably methods used for Shepherds' Approach, Shepherds' Formation and Steering Points' Distance. This study also recognises the importance of ock identi�cation in relation to cooperative shepherding, and the Connected Components Labelling method to overcome the related problem is presented. Further work is suggested on the proposed INT-X model that was not implemented in this study, since it builds on top of the INT-M algorithm and its re�nements. This study can also be extended to include other shepherd- ing behaviours, further investigation of other useful features of biological immune systems, and the application of the proposed models to other cooperative tasks.

Item Type: Thesis (PhD)
Uncontrolled Keywords: Robotics, Robots -- Dynamics
Subjects: T Technology > TJ Mechanical engineering and machinery
Divisions: Library > Tesis > FTMK
Depositing User: Norziyana Hanipah
Date Deposited: 10 Sep 2015 04:34
Last Modified: 10 Sep 2015 04:36
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