Adaptive immune system inspired perimeter patrol control strategy

This paper investigates a perimeter patrol control problem in which multiple agents travel back and forth defending a border. A decentralized control inspired from the adaptive immune system TH1/TH2 differentiation mechanism has been proposed. The resulting patrol control exhibits robustness under adversarial conditions. This is primarily because the motion period can be arbitrary, which makes it difficult for intruders to find weak spots for attack. Moreover, this immuno-inspired control can avoid collision and automatically recover from agent failure.