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TASK ALLOCATION ALGORITHM BASED ON IMMUNE SYSTEM FOR AUTONOMOUSLY COOPERATIVE MULTI-ROBOT SYSTEM.

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Název: TASK ALLOCATION ALGORITHM BASED ON IMMUNE SYSTEM FOR AUTONOMOUSLY COOPERATIVE MULTI-ROBOT SYSTEM.
Autoři: Yunyuan Gao
Zdroj: Intelligent Automation & Soft Computing; Jun2009, Vol. 15 Issue 2, p263-273, 11p, 3 Diagrams, 2 Charts, 3 Graphs
Témata: AUTONOMOUS robots, ROBOT control systems, SIMULATION methods & models, AUTOMATIC control systems, GENETIC algorithms, IMMUNE system
Abstrakt: In many cases, tasks are unknown for the multi-robot system in advance. Therefore, robots are required to work cooperatively during the proceeding of tasks. Such cooperation is called autonomous cooperation. To realize autonomous cooperation in the multi-robot system, an appropriate task allocation algorithm is quite important for the efficiency of the system. Taking advantage of the interactions of antibodies and antigen stimulus of the artificial immune system, this paper proposes an immune based task allocation algorithm for the autonomously cooperative robots. Simulating the mechanism of the immune system, the immune-based task allocation algorithm is designed utilizing the interactions among the antibodies from robots. By considering the antibodies from inter- and intra-robot simultaneously, the algorithm is different from other allocation algorithms which are greedy in task allocation. Besides the interactions among the antibodies, the task allocation algorithm is developed by self-reinforcement learning of the antigen stimulus. The autonomous cooperation among robots is realized by adjusting the antigen stimulus. The allocation algorithm for the autonomously cooperative robots is demonstrated and analyzed in the simulation of box fixing, in which a group of robots must work cooperatively to fix boxes with unknown difficulty in advance. [ABSTRACT FROM AUTHOR]
Copyright of Intelligent Automation & Soft Computing is the property of Tech Science Press and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)
Databáze: Complementary Index
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DbLabel: Complementary Index
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  Data: TASK ALLOCATION ALGORITHM BASED ON IMMUNE SYSTEM FOR AUTONOMOUSLY COOPERATIVE MULTI-ROBOT SYSTEM.
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  Data: <searchLink fieldCode="AR" term="%22Yunyuan+Gao%22">Yunyuan Gao</searchLink>
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  Data: Intelligent Automation & Soft Computing; Jun2009, Vol. 15 Issue 2, p263-273, 11p, 3 Diagrams, 2 Charts, 3 Graphs
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  Data: <searchLink fieldCode="DE" term="%22AUTONOMOUS+robots%22">AUTONOMOUS robots</searchLink><br /><searchLink fieldCode="DE" term="%22ROBOT+control+systems%22">ROBOT control systems</searchLink><br /><searchLink fieldCode="DE" term="%22SIMULATION+methods+%26+models%22">SIMULATION methods & models</searchLink><br /><searchLink fieldCode="DE" term="%22AUTOMATIC+control+systems%22">AUTOMATIC control systems</searchLink><br /><searchLink fieldCode="DE" term="%22GENETIC+algorithms%22">GENETIC algorithms</searchLink><br /><searchLink fieldCode="DE" term="%22IMMUNE+system%22">IMMUNE system</searchLink>
– Name: Abstract
  Label: Abstract
  Group: Ab
  Data: In many cases, tasks are unknown for the multi-robot system in advance. Therefore, robots are required to work cooperatively during the proceeding of tasks. Such cooperation is called autonomous cooperation. To realize autonomous cooperation in the multi-robot system, an appropriate task allocation algorithm is quite important for the efficiency of the system. Taking advantage of the interactions of antibodies and antigen stimulus of the artificial immune system, this paper proposes an immune based task allocation algorithm for the autonomously cooperative robots. Simulating the mechanism of the immune system, the immune-based task allocation algorithm is designed utilizing the interactions among the antibodies from robots. By considering the antibodies from inter- and intra-robot simultaneously, the algorithm is different from other allocation algorithms which are greedy in task allocation. Besides the interactions among the antibodies, the task allocation algorithm is developed by self-reinforcement learning of the antigen stimulus. The autonomous cooperation among robots is realized by adjusting the antigen stimulus. The allocation algorithm for the autonomously cooperative robots is demonstrated and analyzed in the simulation of box fixing, in which a group of robots must work cooperatively to fix boxes with unknown difficulty in advance. [ABSTRACT FROM AUTHOR]
– Name: Abstract
  Label:
  Group: Ab
  Data: <i>Copyright of Intelligent Automation & Soft Computing is the property of Tech Science Press and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.)
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RecordInfo BibRecord:
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      – Type: doi
        Value: 10.1080/10798587.2009.10643030
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      – Code: eng
        Text: English
    PhysicalDescription:
      Pagination:
        PageCount: 11
        StartPage: 263
    Subjects:
      – SubjectFull: AUTONOMOUS robots
        Type: general
      – SubjectFull: ROBOT control systems
        Type: general
      – SubjectFull: SIMULATION methods & models
        Type: general
      – SubjectFull: AUTOMATIC control systems
        Type: general
      – SubjectFull: GENETIC algorithms
        Type: general
      – SubjectFull: IMMUNE system
        Type: general
    Titles:
      – TitleFull: TASK ALLOCATION ALGORITHM BASED ON IMMUNE SYSTEM FOR AUTONOMOUSLY COOPERATIVE MULTI-ROBOT SYSTEM.
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            – D: 01
              M: 06
              Text: Jun2009
              Type: published
              Y: 2009
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              Value: 15
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              Value: 2
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            – TitleFull: Intelligent Automation & Soft Computing
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