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An immune network approach for self-adaptive ensembles of autonomic components: a case study in swarm robotics.

Capodieci, Nicola; Hart, Emma; Cabri, Giacomo


Nicola Capodieci

Giacomo Cabri


Pietro Li�

Orazio Miglino

Giuseppe Nicosia

Stefano Nolfi

Mario Pavone


We describe an immune inspired approach to achieve self-expression within an ensemble, i.e. enabling an ensemble of autonomic components to dynamically change their coordination pattern during the runtime execution of a given task. Building on previous work using idiotypic networks, we consider robotic swarms in which each robot has a lymph node containing a set of antibodies describing conditions under which different coordination patterns can be applied. Antibodies are shared between robots that come into communication range facilitating collaboration. Tests in simulation in robotic arenas of varying complexity show that the swarm is able to learn suitable patterns and effectively achieve a foraging task, particularly in arenas of high complexity.

Start Date Sep 2, 2013
End Date Sep 6, 2013
Publication Date 2013
Deposit Date Aug 26, 2013
Publicly Available Date Dec 31, 2013
Peer Reviewed Peer Reviewed
Pages 864-871
Book Title Advances in Artifical Life, Proceedings of ECAL 2013
Keywords Idiotypic networks; robotic swarms; artificial systems;
Public URL
Publisher URL
Contract Date Aug 26, 2013


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