A Foundation for Kilorobotic Exploration

A Foundation for Kilorobotic Exploration. Singh, S., Thayer, S., & Thayer, W. 2002.
doi abstract bibtex

A new concept for coordinating large-scale autonomous robot exploration teams having populations in the thousands is introduced along with several illustrative scenarios. Inspired by constructs found within the human immune system, the Immunology-derived Distributed Autonomous Robotics Architecture (IDARA) was developed so that exploratory actions are refined and followed by specific and mediated responses. The foundations of the IDARA model are derived from the immune network model; in particular, interactions derived from the innate immune system are integrated to yield a stronger first-order, all-purpose search strategy. Using this architecture as a foundation, the work develops methods for kilorobotic exploration in dynamic environments. As characterized via computer simulations with robot populations of up to 1,500 robots, IDARA-based exploration proved to be a robust and compact method for largescale multirobot coordination that combines reflexive and deliberative control methods in an opportunistic fashion, mimicking the human immune system

@CONFERENCE{cec02,
  author = {Singh, S.P.N. and Thayer, S.M. and Thayer, W.P.},
  title = {A Foundation for Kilorobotic Exploration},
  booktitle = {Proceedings of the 2002 Congress on Evolutionary Computation ({CEC
	2002})},
  year = {2002},
  volume = {2},
  pages = {1033-1038},
  abstract = {A new concept for coordinating large-scale autonomous robot exploration
	teams having populations in the thousands is introduced along with
	several illustrative scenarios. Inspired by constructs found within
	the human immune system, the Immunology-derived Distributed Autonomous
	Robotics Architecture (IDARA) was developed so that exploratory actions
	are refined and followed by specific and mediated responses. The
	foundations of the IDARA model are derived from the immune network
	model; in particular, interactions derived from the innate immune
	system are integrated to yield a stronger first-order, all-purpose
	search strategy. Using this architecture as a foundation, the work
	develops methods for kilorobotic exploration in dynamic environments.
	As characterized via computer simulations with robot populations
	of up to 1,500 robots, IDARA-based exploration proved to be a robust
	and compact method for largescale multirobot coordination that combines
	reflexive and deliberative control methods in an opportunistic fashion,
	mimicking the human immune system},
  doi = {10.1109/CEC.2002.1004385},
  file = {01004385.pdf?tp=&arnumber=1004385&isnumber=21687:http\://ieeexplore.ieee.org/iel5/7875/21687/01004385.pdf?tp=&arnumber=1004385&isnumber=21687:PDF},
  keywords = {digital simulation multi-robot systems Immunology-derived Distributed
	Autonomous Robotics Architecture computer simulations deliberative
	control methods dynamic environments exploratory actions first-order
	all-purpose search strategy human immune system immune network model
	kilorobotic exploration large-scale autonomous robot exploration
	team coordination large-scale multirobot coordination mediated responses
	reflexive control methods},
  owner = {SPNSPUB}
}

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