Abstract
Extending the longevity of autonomous agent system in real life application is a difficult task, especially in applications which require continuous high system performance. This paper presents a novel decentralized balancing controlling architecture for longevity and achievement in multi-agent robot systems based on several artificial immune systems (AIS) designs and principles. Simulation experiments have verified the proposed architecture has good capability to efficiently minimize the trade-off in system achievement while maintaining system sustainability, even in very demanding situations.
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