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Immunology Based Multi-Robot Collaboration for Countermine Operations

[+] Author Affiliations
Adarsh G. Nair, Sanjeev Agarwal, K. Krishnamurthy

University of Missouri at Rolla

Paper No. IMECE2005-82707, pp. 1041-1047; 7 pages
doi:10.1115/IMECE2005-82707
From:
  • ASME 2005 International Mechanical Engineering Congress and Exposition
  • Dynamic Systems and Control, Parts A and B
  • Orlando, Florida, USA, November 5 – 11, 2005
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 0-7918-4216-9 | eISBN: 0-7918-3769-6
  • Copyright © 2005 by ASME

abstract

Past studies have shown that mechanisms employed by biological systems can motivate development of algorithms for coordination of distributed systems. In this study, an immune system based collaboration is established between heterogeneous robots to perform countermine operations. Heterogeneity of the robots is defined based on their capabilities to detect and/or mark location of mines, and diffuse them. Concepts related to an immune system like clonal expansion, primary and secondary response, immune memory and antigen specificity are exploited in this study. The developed methodology is validated by simulation studies using MATLAB.

Copyright © 2005 by ASME
Topics: Robots , Collaboration

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