Publication detail

Immune network control for stigmergy based foraging behaviour of autonomous mobile robot

BRADÁČ, Z. ZEZULKA, F. TSANKOVA, D. GEORGIEVA, V.

Original Title

Immune network control for stigmergy based foraging behaviour of autonomous mobile robot

Type

journal article - other

Language

English

Original Abstract

The paper presents a series of experiments in a simulated environment where two autonomous mobile robots gather randomly distributed objects and cluster them on a pile. The co-ordination of the robots movements is achieved through stigmergy (an indirect form of communication through the environment). The random moves, necessary for stigmergy based foraging behaviour, make the task solution a time consuming process. In order to speed up the foraging behaviour, the immune network robot control is proposed. Stigmergic principles are coded in two artificial immune networks}for a collision free goal following behaviour and for an object picking up/dropping behaviour. Simulations confirm the improved performance of the foraging behaviour under the proposed immune network control.

Keywords

foraging behaviour; stigmergy; immune network; autonomous mobile robot

Authors

BRADÁČ, Z.; ZEZULKA, F.; TSANKOVA, D.; GEORGIEVA, V.

RIV year

2007

Released

1. 3. 2007

Publisher

John Wiley & Sons, Ltd.

Location

West Sussex, UK

ISBN

0890-6327

Periodical

International Journal of Adaptive Control and Signal Processing

Year of study

21

Number

2-3

State

United Kingdom of Great Britain and Northern Ireland

Pages from

265

Pages to

286

Pages count

21

BibTex

@article{BUT43874,
  author="Zdeněk {Bradáč} and František {Zezulka} and Diana {Tsankova} and Velichka {Georgieva}",
  title="Immune network control for stigmergy based foraging behaviour of autonomous mobile robot",
  journal="International Journal of Adaptive Control and Signal Processing",
  year="2007",
  volume="21",
  number="2-3",
  pages="265--286",
  issn="0890-6327"
}