Immunology directed methods for distributed robotics: a novel, immunity-based architecture for robust control coordination

摘要

This paper presents a novel algorithmic architecture for the coordination and control of large scale distributed robot teams derived from the constructs found within the human immune system. Using this as guide, the Immunology-derived Distributed Autonomous Robotics Architecture (IDARA) distributes tasks so that routine actions are refined and followed by specific and mediated responses based on each unit utility and capability to timely address the system's perceived need(s). This method improves on initial developments in this area by including often overlooked interactions of the innate immune system resulting in a stronger first-order, general response mechanism. This allows for rapid reactions in dynamic environments, especially those lacking significant a priori information. As characterized via computer simulation of a "self-healing" mobile minefield having up to 7,500 mines and 2,750 robots, IDARA provides an efficient, communications light, and scalable architecture that yields significant operation and performance improvements for large-scale multi-robot coordination and control.