An artificial immune system for self-healing in swarm robotic systems

Amelia R. Ismail, Jan D. Bjerknes, Jon Timmis*, Alan Winfield

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference Proceeding (Non-Journal item)

5 Citations (SciVal)


Swarm robotics is concerned with the decentralised coordination of multiple robots having only limited communication and interaction abilities. Although fault tolerance and robustness to individual robot failures have often been used to justify the use of swarm robotic systems, recent studies have shown that swarm robotic systems are susceptible to certain types of failure. In this paper we propose an approach to self-healing swarm robotic systems and take inspiration from the process of granuloma formation, a process of containment and repair found in the immune system. We use a case study of a swarm performing team work where previous works have demonstrated that partially failed robots have the most detrimental effect on overall swarm behaviour. In response this, we have developed an immune inspired approach that permits the recovery from certain failure modes during operation of the swarm, overcoming issues that effect swarm behaviour associated with partially failed robots.

Original languageEnglish
Title of host publicationInformation Processing in Cells and Tissues - 10th International Conference, IPCAT 2015, Proceedings
EditorsStephen Smith, Andy Tyrrell, Michael Lones, Gary Fogel
PublisherSpringer Nature
Number of pages14
ISBN (Print)9783319231075
Publication statusPublished - 2015
Event10th International Conference on Information Processing in Cells and Tissues, IPCAT 2015 - San Diego, United States of America
Duration: 14 Sept 201516 Sept 2015

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference10th International Conference on Information Processing in Cells and Tissues, IPCAT 2015
Country/TerritoryUnited States of America
CitySan Diego
Period14 Sept 201516 Sept 2015

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