Adaptive immune system inspired perimeter patrol control strategy

Authors:
Ruoting Yang;Sharon Bewick;Mingjun Zhang;William R. Hamel;Tzyh-Jong Tarn
Affiliations:
Department of Mech., Aero. and Biom. Eng., The University of Tennessee, Knoxville, TN;Department of Mech., Aero. and Biom. Eng., The University of Tennessee, Knoxville, TN;Department of Mech., Aero. and Biom. Eng., The University of Tennessee, Knoxville, TN;Department of Mech., Aero. and Biom. Eng., The University of Tennessee, Knoxville, TN;Department of Electrical and Systems Engineering, Washington University in St. Louis
Venue:
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Year:
2009

Citing 3
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Abstract

This paper investigates a perimeter patrol control problem in which multiple agents travel back and forth defending a border. A decentralized control inspired from the adaptive immune system TH1/TH2 differentiation mechanism has been proposed. The resulting patrol control exhibits robustness under adversarial conditions. This is primarily because the motion period can be arbitrary, which makes it difficult for intruders to find weak spots for attack. Moreover, this immuno-inspired control can avoid collision and automatically recover from agent failure.