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.
Institute of Electrical and Electronics Engineers (IEEE), Shanghai, pp. 5517-5522.
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.