Control of the distributed autonomous robotic system based on the biologically inspired immunological architecture

In this paper, we propose a new algorithm to control a distributed autonomous robotic system under dynamically changing environment based on immunological interaction between robots. Our algorithm can organize the robot population for dynamically changing multiple works. At first, we designed a control architecture for a multiple robotic system based on B-cell (which is main agent of immune system) interaction. Immune system has various kinds of B-cells, and B-cell interaction can organize its population balance against dynamically changing environment. We set the analogy between distributed autonomous robotic system and biological immune system. We verified the performance of our algorithm by computer simulation. As a simulation example there is considered the transportation of multiple objects to multiple locations against a deadline, with time-varying demand.