Detail publikace

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

Originální název

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

Anglický název

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

Jazyk

en

Originální abstrakt

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.

Anglický abstrakt

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.

BibTex


@article{BUT43874,
  author="Zdeněk {Bradáč} and František {Zezulka} and Diana {Tsankova} and Velichka {Georgieva}",
  title="Immune network control for stigmergy based foraging behaviour of autonomous mobile robot",
  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.",
  address="John Wiley & Sons, Ltd.",
  chapter="43874",
  institution="John Wiley & Sons, Ltd.",
  journal="International Journal of Adaptive Control and Signal Processing",
  number="2-3",
  volume="21",
  year="2007",
  month="march",
  pages="265--286",
  publisher="John Wiley & Sons, Ltd.",
  type="journal article - other"
}