A Refined Immune Systems Inspired Model for Multi-Robot Shepherding

Razali, Sazalinsyah and Meng, Qinggang and Yang, Shuang-Hua (2010) A Refined Immune Systems Inspired Model for Multi-Robot Shepherding. In: Second World Congress on Nature and Biologically Inspired Computing (NaBIC 2010), 15-17 December 2010, Kitakyushu, Japan.

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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.

Item Type: Conference or Workshop Item (Paper)
Additional Information: © 2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Uncontrolled Keywords: Shepherd formation;biological immune system;immune network t-cell regulated with memory model;immune network theory;memory-based immune network;multirobot shepherding;multirobot system;organism health state;refined immune system;robot action selection process;robot dog;artificial immune systems;mobile robots;motion control;multi-robot systems;
Subjects: Q Science > Q Science (General)
Q Science > QA Mathematics > QA75 Electronic computers. Computer science
Q Science > QR Microbiology > QR180 Immunology
Divisions: Faculty of Information and Communication Technology > Department of Industrial Computing
Depositing User: Dr. Sazalinsyah Razali
Date Deposited: 27 Jul 2012 15:06
Last Modified: 28 May 2015 02:17
URI: http://eprints.utem.edu.my/id/eprint/181
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