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An artificial immune system for self-healing in swarm robotic systems

Ismail, Amelia R.; Bjerknes, Jan Dyre; Timmis, Jon; Winfield, Alan F.T.


Amelia R. Ismail

Jan Dyre Bjerknes

Jon Timmis


Michael Lones

Andy Tyrrell

Stephen Smith

Gary Fogel


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 this, 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.

Publication Date Sep 1, 2015
Print ISSN 0302-9743
Peer Reviewed Peer Reviewed
Volume 9303
Pages 61-74
Series Title Lecture Notes in Computer Science
Book Title Information Processing in Cells and Tissues
ISBN 9783319231075
Institution Citation Ismail, A. R., Bjerknes, J. D., Timmis, J., & Winfield, A. F. (2015). An artificial immune system for self-healing in swarm robotic systems. In G. Fogel, M. Lones, A. Tyrrell, & S. Smith (Eds.), Information Processing in Cells and Tissues, 61-74. Springer.
Keywords swarm robotics, artificial immune systems
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