Publication detail

Immune network control for stigmergy based foraging behaviour of autonomous mobile robots

ZEZULKA, F., BRADÁČ, Z.

Original Title

Immune network control for stigmergy based foraging behaviour of autonomous mobile robots

Czech Title

Imunitni ridici system mobilnich robotu zalozeny na principu stigmergy based foraging behaviour.

English Title

Immune network control for stigmergy based foraging behaviour of autonomous mobile robots

Type

journal article

Language

en

Original Abstract

The paper presents a series of experiments in a simulated environment where two autonomous mobile robots gather randomly distributed objects and cluster them on a pile. The co-ordination of the robots’ movements is achieved through stigmergy (an indirect form of communication through the environment). The random moves, necessary for stigmergy based foraging behaviour, make the task solution a time consuming process. In order to speed up the foraging behaviour, the immune network robot control is proposed. Stigmergic principles are coded in two artificial immune networks}for a collision free goal following behaviour and for an object picking up/dropping behaviour. Simulations confirm the improved performance of the foraging behaviour under the proposed immune network control. Copyright # 2006 John Wiley & Sons, Ltd.

Czech abstract

Článek popisuje serii experimentů, kde simulované mobilní roboty shromažďují na jedné hromadě náhodně umístěné předměty v rovině. Koordinační algoritmus pro spolupráci robotů je založen na principu "stigmergy" , který je převzat z bilogogických systémů. Za účelem rychlé konvergence shromažďovacího procesu je použit princip řízení immunitního systému. Copyright # 2006 John Wiley & Sons, Ltd.

English abstract

The paper presents a series of experiments in a simulated environment where two autonomous mobile robots gather randomly distributed objects and cluster them on a pile. The co-ordination of the robots’ movements is achieved through stigmergy (an indirect form of communication through the environment). The random moves, necessary for stigmergy based foraging behaviour, make the task solution a time consuming process. In order to speed up the foraging behaviour, the immune network robot control is proposed. Stigmergic principles are coded in two artificial immune networks}for a collision free goal following behaviour and for an object picking up/dropping behaviour. Simulations confirm the improved performance of the foraging behaviour under the proposed immune network control. Copyright # 2006 John Wiley & Sons, Ltd.

Keywords

foraging behaviour; stigmergy; immune network; autonomous mobile robot

RIV year

2006

Released

01.01.2006

Pages from

1

Pages to

22

Pages count

22

BibTex


@article{BUT44207,
  author="František {Zezulka} and Zdeněk {Bradáč} and Velichka {Georgieva} and Diana {Tsankova}",
  title="Immune network control for stigmergy based foraging behaviour of autonomous mobile robots",
  annote="The paper presents a series of experiments in a simulated environment where two autonomous mobile
robots gather randomly distributed objects and cluster them on a pile. The co-ordination of the robots’
movements is achieved through stigmergy (an indirect form of communication through the environment).
The random moves, necessary for stigmergy based foraging behaviour, make the task solution a time
consuming process. In order to speed up the foraging behaviour, the immune network robot control is
proposed. Stigmergic principles are coded in two artificial immune networks}for a collision free goal
following behaviour and for an object picking up/dropping behaviour. Simulations confirm the improved
performance of the foraging behaviour under the proposed immune network control. Copyright # 2006
John Wiley & Sons, Ltd.",
  chapter="44207",
  journal="Wiley InterScience",
  number="9",
  volume="2006",
  year="2006",
  month="january",
  pages="1",
  type="journal article"
}