Development of an Immunology-Based Multi-Robot Coordination Algorithm for Exploration and Mapping Domains

Development of an Immunology-Based Multi-Robot Coordination Algorithm for Exploration and Mapping Domains. Thayer, S. & Singh, S. In Proceedings of the International Conference on Intelligent Robots and Systems (IROS), volume 3, pages 2735-2739, 2002.
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This paper presents a new concept called the Immunology-derived Distributed Autonomous Robotics Architecture (IDARA) for the manipulation of "kilorobots" (large multi-robot colonies) modeled on the actions of the human immune system. The paper presents the development of the IDARA algorithms for the control and coordination of kilorobots for robot exploration tasks in four mapping scenarios. As characterized via computer simulations with robot populations of up to 1,500, IDARA-based exploration proved to be an efficient, robust, and compact method for large-scale multirobot control that combines the speed of reflexive methods with the precision of deliberative control.

@INPROCEEDINGS{iros2002,
  author = {Thayer, S.M. and Singh, S.P.N.},
  title = {{Development of an Immunology-Based Multi-Robot Coordination Algorithm
	for Exploration and Mapping Domains}},
  booktitle = {Proceedings of the International Conference on Intelligent Robots
	and Systems ({IROS})},
  year = {2002},
  volume = {3},
  pages = {2735-2739},
  abstract = {This paper presents a new concept called the Immunology-derived Distributed
	Autonomous Robotics Architecture (IDARA) for the manipulation of
	"kilorobots" (large multi-robot colonies) modeled on the actions
	of the human immune system. The paper presents the development of
	the IDARA algorithms for the control and coordination of kilorobots
	for robot exploration tasks in four mapping scenarios. As characterized
	via computer simulations with robot populations of up to 1,500, IDARA-based
	exploration proved to be an efficient, robust, and compact method
	for large-scale multirobot control that combines the speed of reflexive
	methods with the precision of deliberative control.},
  doi = {10.1109/IRDS.2002.1041683},
  file = {01041683.pdf?tp=&arnumber=1041683&isnumber=22328:http\://ieeexplore.ieee.org/iel5/8071/22328/01041683.pdf?tp=&arnumber=1041683&isnumber=22328:PDF},
  keywords = {control system analysis computing, distributed control, mobile robots,
	multi-robot systems, robust control, terrain mapping, IDARA algorithms,
	computer simulations, deliberative control, exploration tasks, human
	immune system, immunology-based multi-robot coordination algorithm,
	immunology-derived distributed autonomous robotics architecture,
	kilorobot coordination, kilorobot manipulation, large multi-robot
	colonies, large-scale multirobot control, mapping tasks, reflexive
	methods, robust method}
}

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