Title :
A Concept of Multi-Robots Multi-Scale Coordination Model
Author_Institution :
Dept. of Mechanic-Electron. Eng., Xi´´an Univ., Xi´´an
Abstract :
The immune system is a distributed autonomous system. We found the analogy between multi autonomous mobile robots system (MAMRS) and immune system, and applied immune system mechanism to MAMRS. Through thoroughly analyzing the structure and task characteristic of MAMRS, a multi-scale coordination model is presented (cellular level, tissue level, organ level, body level), and a structural framework of the coordinative multi-robot system is constructed. Behavior-based action of robot occurred at cellular level. The action of a group sensors occurred at tissue level. The action of single robot occurred at organ level. A group robots´ action occurred at body level. Contrast test for three models is done. Experiments on simulation soccer robot platform show that the multi-scale coordination model is feasible and superior.
Keywords :
artificial immune systems; mobile robots; multi-robot systems; group sensor; immune system mechanism; multiautonomous mobile robot system; multirobot multiscale coordination model; soccer robot platform; Distributed computing; Immune system; Mobile robots; Multirobot systems; Network synthesis; Robot kinematics; Robot sensing systems; Sensor phenomena and characterization; Silicon compounds; Testing; multi autonomous mobile robots system; multi-scale coordination;
Conference_Titel :
Natural Computation, 2008. ICNC '08. Fourth International Conference on
Conference_Location :
Jinan
Print_ISBN :
978-0-7695-3304-9
DOI :
10.1109/ICNC.2008.581