Mokhtar, Maizura and Howe, Joe M.
Increasing Endurance of an Autonomous Robot using an Immune-Inspired Framework.
Robotics and Automation (ICRA), 2011 IEEE International Conference on.
IEEE, Shanghai, pp. 5517-5522.
- Accepted Version
Official URL: http://dx.doi.org/10.1109/ICRA.2011.5979724
This paper describes the implementation of an online immune-inspired framework to help increase endurance of an autonomous robot. Endurance is defined as the ability of the robot to exert itself for a long period of time. The immune-inspired framework provides such capability by monitoring the behavior of the robot to ensure continuous and safe behavior. The immune-inspired framework combines innate and adaptive immune inspired algorithms. Innate uses a dendritic cell based innate immune algorithm, and adaptive uses an instance based B-cell approach. Results presented in this paper shows that when the robot is implemented with the immune-inspired framework, health and survivability of a robot is improved, therefore increasing its endurance.
|Item Type:||Book Section|
|Additional Information:||© Copyright 2011 IEEE – All rights reserved.|
|Uncontrolled Keywords (separate with ;):||Detectors;Immune system;Monitoring;Robot kinematics;Robot sensing systems;Steady-state;artificial immune systems;mobile robots;adaptive immune inspired algorithm;autonomous robot;dendritic cell;innate immune inspired algorithm;instance based B-cell approach|
|Subjects:||Q Science > QA Mathematics > QA75 Electronic computers. Computer science|
|Schools:||School of Computing Engineering & Physcial Sciences|
|Deposited On:||28 Mar 2012 14:25|
|Last Modified:||09 Jan 2013 10:04|
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