Abstract
The immune system is a distributed autonomous system. We found the analogy between multi autonomous mobile robots system (MAMRS) and immune system, and applied immune system mechanism to MAMRS. Through thoroughly analyzing the structure and task characteristic of MAMRS, a multi-scale coordination model is presented (cellular level, tissue level, organ level, body level), and a structural framework of the coordinative multi-robot system is constructed. Behavior-based action of robot occurred at cellular level. The action of a group sensors occurred at tissue level. The action of single robot occurred at organ level. A group robots' action occurred at body level. Contrast test for three models is done. Experiments on simulation soccer robot platform show that the multi-scale coordination model is feasible and superior.
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