Razali, Sazalinsyah and Meng, Qinggang and Yang, Shuang-Hua (2010) A Refined Immune Systems Inspired Model For Multi-robot Shepherding. In: 2nd World Congress on Nature and Biologically Inspired Computing (NaBIC) , 15-17 Dec 2010, Fukuoka, Japan. (Submitted)
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A REFINED IMMUNE SYSTEMS INSPIRED MODEL FOR MULTI-ROBOT SHEPHERDING-SAZALINSYAH RAZALI-MAK 00441 RAF.pdf Download (3MB) |
Abstract
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) |
|---|---|
| Uncontrolled Keywords: | Robotics, Robots -- Dynamics |
| Subjects: | T Technology > T Technology (General) T Technology > TJ Mechanical engineering and machinery |
| Divisions: | Faculty of Information and Communication Technology |
| Depositing User: | Users 4097 not found. |
| Date Deposited: | 15 Dec 2017 04:20 |
| Last Modified: | 15 Dec 2017 04:20 |
| URI: | http://eprints.utem.edu.my/id/eprint/20200 |
| Statistic Details: | View Download Statistic |
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