A Foundation for Kilorobotic Exploration

Surya Singh and Scott Thayer
Proceedings of the Congress on Evolutionary Computation at the 2002 IEEE World Congress on Computational Intelligence, May, 2002.


Download
  • Adobe portable document format (pdf) (975KB)
Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract
A new concept for coordinating large-scale autonomous robot exploration teams having populations in the thousands is introduced along with several illustrative scenarios. Inspired by constructs found within the human immune system, the Immunology-derived Distributed Autonomous Robotics Architecture (IDARA) was developed so that exploratory actions are refined and followed by specific and mediated responses. The foundations of the IDARA model are derived from the immune network model; in particular, interactions derived from the innate immune system are integrated to yield a stronger first-order, all-purpose search strategy. Using this architecture as a foundation, the work develops methods for kilorobotic exploration in dynamic environments. As characterized via computer simulations with robot populations of up to 1,500 robots, IDARA-based exploration proved to be a robust and compact method for large-scale multirobot coordination that combines reflexive and deliberative control methods in an opportunistic fashion, mimicking the human immune system.

Keywords
kilorobotics, exploration, artificial immune systems

Notes
Sponsor: DARPA and NDSEG
Associated Center(s) / Consortia: Field Robotics Center

Text Reference
Surya Singh and Scott Thayer, "A Foundation for Kilorobotic Exploration," Proceedings of the Congress on Evolutionary Computation at the 2002 IEEE World Congress on Computational Intelligence, May, 2002.

BibTeX Reference
@inproceedings{Singh_2002_3952,
   author = "Surya Singh and Scott Thayer",
   title = "A Foundation for Kilorobotic Exploration",
   booktitle = "Proceedings of the Congress on Evolutionary Computation at the 2002 IEEE World Congress on Computational Intelligence",
   month = "May",
   year = "2002",
}