Aggregation of swarms for fault tolerance inswarm robotics using immuno-enginering approach

Abstract

We present initial studies in the development of an immune-inspired solution for fault tolerance for swarm aggregation in swarm robotics systems. Taking inspiration from granuloma formation, (a process in the immune system) we describe how this idea can be instantiated to address fault tolerance issues in swarm aggregation. We outline an immunoengineering approach, which requires us to model the biological systems under study and extract general principles to create a novel bio-inspired approach. We then outline how the ideas of granuloma formation can be translated into algorithmic terms.