Self-organizing multiple robotic system (a population control through biologically inspired immune network architecture)

摘要

This paper proposes a population control architecture for a multiple robotic system inspired from biological immune networks. The authors' architecture organizes suitable population balance against dynamic environment independently of any centralized control, while each robot decides its action without a global world model. This group behavior, suitable population balance, is organized as side-effect of the interaction of the individual robots in the world.