Abstract
A new immuno-inspired framework, combining innate and adaptive components of immunity, is presented for heterogeneous mobile robots. The framework is aimed to enable the robots to perform different tasks, ranging from solving complex mazes to search-and-rescue in unstructured scenarios, albeit the differences in robot-configurations. The framework operates in a three-tier subsuming structure: the lowest rung offers multiple reactive functions of innate immunity, the middle tier provides a T-cell-inspired reinforcement mechanism, and the top level invokes adaptive functions of clonal selection and idiotypic networks. The arbitration among these tiers is based on robots’ performance which is translated in terms of inflammation and cell-maturity. It resultantly helps to regulate the immuno-responses and maintain a homeostasis in the system. In order to handle multiple sensory configurations, a cross tier representation scheme is also devised. The framework is validated through extensive simulations in various unstructured scenarios, performing multiple tasks with different robot-configurations.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
