An immune-inspired swarm aggregation algorithm for self-healing swarm robotic systems

Timmis, J., Ismail, A. R., Bjerknes, J. D. and Winfield, A. F. (2016) An immune-inspired swarm aggregation algorithm for self-healing swarm robotic systems. BioSystems, 146. pp. 60-76. ISSN 0303-2647 Available from:

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Swarm robotics is concerned with the decentralised coordination of multiple robots having only limited communication and interaction abilities. Although fault tolerance and robustness to individual robot failures have often been used to justify the use of swarm robotic systems, recent studies have shown that swarm robotic systems are susceptible to certain types of failure. In this paper we propose an approach to self-healing swarm robotic systems and take inspiration from the process of granuloma formation, a process of containment and repair found in the immune system. We use a case study of a swarm performing team work where previous works have demonstrated that partially failed robots have the most detrimental effect on overall swarm behaviour. In response to this, we have developed an immune inspired approach that permits the recovery from certain failure modes during operation of the swarm, overcoming issues that affect swarm behaviour associated with partially failed robots.

Item Type: Article
Uncontrolled Keywords: swarm robotics, artificial immune systems, self-repair
Faculty/Department: Faculty of Environment and Technology > Department of Engineering Design and Mathematics
Depositing User: Professor A. Winfield
Date Deposited: 26 May 2016 08:02
Last Modified: 11 May 2017 22:22


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