Detail publikace

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

BRADÁČ, Z. ZEZULKA, F. TSANKOVA, D. GEORGIEVA, V.

Originální název

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

Typ

článek v časopise - ostatní, Jost

Jazyk

angličtina

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.

Klíčová slova

foraging behaviour; stigmergy; immune network; autonomous mobile robot

Autoři

BRADÁČ, Z.; ZEZULKA, F.; TSANKOVA, D.; GEORGIEVA, V.

Rok RIV

2007

Vydáno

1. 3. 2007

Nakladatel

John Wiley & Sons, Ltd.

Místo

West Sussex, UK

ISSN

0890-6327

Periodikum

International Journal of Adaptive Control and Signal Processing

Ročník

21

Číslo

2-3

Stát

Spojené království Velké Británie a Severního Irska

Strany od

265

Strany do

286

Strany počet

21

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",
  journal="International Journal of Adaptive Control and Signal Processing",
  year="2007",
  volume="21",
  number="2-3",
  pages="265--286",
  issn="0890-6327"
}