A Prototype Model for Self-Healing and Self-Reproduction In Swarm Robotics System

摘要

A swarm robotics system is a special type of wide-area and large-scale distributed system, which focuses on a group of robots cooperating to achieve the same goal using swarm intelligence. To treat the swarm robotics system with the self-healing and self-reproduction functions, this paper studied a prototype model based on the virtual neurons, autonomous self-diagnosis, consequence-oriented prescription, autonomous self-curing, and self-reproduction. This prototype system with self-healing has been implemented in the Trusted Electronics and Grid Obfuscation (TEGO) research center. Several practical cases were studied to show the effectiveness and efficiency of the model. The results demonstrate that the self-healing mechanism makes the system more reliable and the performance much improved, not only against failures, but also against failure propagations