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

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 s...

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Main Authors:	Timmis, Jon, Ismail, Amelia Ritahani, Bjerknes, Jan Dyre, Winfield, Alan F T
Format:	Article
Language:	English English English
Published:	Elsevier Ireland Ltd 2016
Subjects:	QA75 Electronic computers. Computer science
Online Access:	http://irep.iium.edu.my/51378/ http://irep.iium.edu.my/51378/ http://irep.iium.edu.my/51378/ http://irep.iium.edu.my/51378/4/51378_An%20immune-inspired.pdf http://irep.iium.edu.my/51378/18/51378_An%20immune_SCOPUS.pdf http://irep.iium.edu.my/51378/19/51378_An%20immune_WOS.pdf

id	iium-51378
recordtype	eprints
spelling	iium-513782017-01-17T01:13:08Z http://irep.iium.edu.my/51378/ An immune-inspired swarm aggregation algorithm for self-healing swarm robotic systems Timmis, Jon Ismail, Amelia Ritahani Bjerknes, Jan Dyre Winfield, Alan F T QA75 Electronic computers. Computer science 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. We have developed an immune inspired approach that permits the recovery from certain failure modes during operation of the swarm, overcoming issues that effect swarm behaviour associated with partially failed robots. Elsevier Ireland Ltd 2016 Article PeerReviewed application/pdf en http://irep.iium.edu.my/51378/4/51378_An%20immune-inspired.pdf application/pdf en http://irep.iium.edu.my/51378/18/51378_An%20immune_SCOPUS.pdf application/pdf en http://irep.iium.edu.my/51378/19/51378_An%20immune_WOS.pdf Timmis, Jon and Ismail, Amelia Ritahani and Bjerknes, Jan Dyre and Winfield, Alan F T (2016) An immune-inspired swarm aggregation algorithm for self-healing swarm robotic systems. Biosystems, 146. pp. 60-76. ISSN 0303-2647 E-ISSN 1872-8324 http://www.sciencedirect.com/science/article/pii/S030326471630034X 10.1016/j.biosystems.2016.04.001
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English English English
topic	QA75 Electronic computers. Computer science
spellingShingle	QA75 Electronic computers. Computer science Timmis, Jon Ismail, Amelia Ritahani Bjerknes, Jan Dyre Winfield, Alan F T An immune-inspired swarm aggregation algorithm for self-healing swarm robotic systems
description	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. We have developed an immune inspired approach that permits the recovery from certain failure modes during operation of the swarm, overcoming issues that effect swarm behaviour associated with partially failed robots.
format	Article
author	Timmis, Jon Ismail, Amelia Ritahani Bjerknes, Jan Dyre Winfield, Alan F T
author_facet	Timmis, Jon Ismail, Amelia Ritahani Bjerknes, Jan Dyre Winfield, Alan F T
author_sort	Timmis, Jon
title	An immune-inspired swarm aggregation algorithm for self-healing swarm robotic systems
title_short	An immune-inspired swarm aggregation algorithm for self-healing swarm robotic systems
title_full	An immune-inspired swarm aggregation algorithm for self-healing swarm robotic systems
title_fullStr	An immune-inspired swarm aggregation algorithm for self-healing swarm robotic systems
title_full_unstemmed	An immune-inspired swarm aggregation algorithm for self-healing swarm robotic systems
title_sort	immune-inspired swarm aggregation algorithm for self-healing swarm robotic systems
publisher	Elsevier Ireland Ltd
publishDate	2016
url	http://irep.iium.edu.my/51378/ http://irep.iium.edu.my/51378/ http://irep.iium.edu.my/51378/ http://irep.iium.edu.my/51378/4/51378_An%20immune-inspired.pdf http://irep.iium.edu.my/51378/18/51378_An%20immune_SCOPUS.pdf http://irep.iium.edu.my/51378/19/51378_An%20immune_WOS.pdf
first_indexed	2023-09-18T21:12:44Z
last_indexed	2023-09-18T21:12:44Z
_version_	1777411360476364800

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

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