An Immunity Inspired Real-Time Cooperative Control Framework for Networked Multi-agent Systems

Authors:
Steven Y. Lu;Henry Y. Lau
Affiliations:
Department of Industrial and Manufacturing Systems Engineering, The University of Hong Kong, Hong Kong, PRC;Department of Industrial and Manufacturing Systems Engineering, The University of Hong Kong, Hong Kong, PRC
Venue:
ICARIS '09 Proceedings of the 8th International Conference on Artificial Immune Systems
Year:
2009

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Abstract

This paper presents a cooperative control framework developed based on the inspiration from the immune system for controlling networked multi-agent systems. The framework is inspired from the meta-dynamics of lymphocyte repertoires in the adaptive immune system, including the continual circulation, continual turnover, concentration control and other relevant mechanisms. We design this framework for the control of a team of autonomous defending agents in RoboFlag Drill, a test-bed for studying cooperative systems. Simulation results are presented to demonstrate the effectiveness of the proposed immunity inspired cooperative control framework. The results of the simulations demonstrated that a set of defenders- can intercept attacker sets with larger set sizes from entering a specific Defense Zone for 60% of the randomly generated RoboFlag Drill problem instances.