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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| Format: | Article |
| Language: | English English English |
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Elsevier Ireland Ltd
2016
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| Online Access: | 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 |
| _version_ | 1848783842645639168 |
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| 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 |
| building | IIUM Repository |
| collection | Online Access |
| 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. |
| first_indexed | 2025-11-14T16:27:47Z |
| format | Article |
| id | iium-51378 |
| institution | International Islamic University Malaysia |
| institution_category | Local University |
| language | English English English |
| last_indexed | 2025-11-14T16:27:47Z |
| publishDate | 2016 |
| publisher | Elsevier Ireland Ltd |
| recordtype | eprints |
| repository_type | Digital Repository |
| 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 |
| 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 |
| title | 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_short | 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 |
| topic | QA75 Electronic computers. Computer science |
| 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 |