A conceptual model for multi-robot cooperation inspired by immune network theory and somatic hypermutation

摘要

This paper presented biological immune system, immune response, and immune learning through somatic hypermutation. The proposed approach is based on immune network theory since they share common aspects with a multi-robot system. In order to improve the cooperative behavior in multi-robot systems, a conceptual model is presented by integrating the immune network algorithm with somatic hypermutation (SHM) theory. An analogy between the immune system and multi-robot system is discussed as well to show the relationship between immune system environment and robotics environment. The learning mechanism in the antibody is adapted to the robot action thus, the robot is expected to perform better since they adapt to the environment. The proposed model will be implemented in robot simulation environment for future works.