NDLI: Dynamic task allocation method based on immune system for cooperative robots

Content Provider	IEEE Xplore Digital Library
Author	Yunyuan Gao Zhizeng Luo
Copyright Year	2008
Description	Author affiliation: Intell. Control & Robot. Inst., Hangzhou Dianzi Univ., Hangzhou (Yunyuan Gao; Zhizeng Luo)
Abstract	To accomplish unknown cooperative tasks in multi-robot system, an efficient task allocation method and autonomous cooperation among robots are required. This paper fully takes advantage of the interactions among antibodies and antigen stimulus of immune system to solve the problem. Firstly, an artificial immune network (AIN) model for multi-robot system is presented with autonomously distributed architecture. Based on AIN, the immune-based static task allocation algorithm is designed utilizing the interactions among the antibodies from inter- and intra-robot. Then the dynamic task allocation method is developed and extended by integrating the cooperative idea into the antigen stimulus. By the self-reinforcement learning of the antigen stimulus, the autonomous cooperation among robots is realized and deadlock situation is avoided. The dynamic allocation method for cooperative robots is demonstrated and analyzed in the simulation of emergency handling, in which a group of robots must detect alarms and cooperatively fix problems indicated by those alarms.
Starting Page	1015
Ending Page	1020
File Size	136766
Page Count	6
File Format	PDF
ISBN	9781424421138
DOI	10.1109/WCICA.2008.4593060
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-06-25
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Resource management Immune system Robot kinematics Optimized production technology Dynamic scheduling Biological system modeling learning the artificial immune system task allocation cooperation
Content Type	Text
Resource Type	Article

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