Artificial immune system inspired behavior coordination for autonomous mobile robot trajectory generation

For the construction of an autonomous robot moving in a real environment, it is necessary to count with a system for the on-line generation of trajectories. An outstanding research area to approach this issue is the evolutive robotics, that resorts to the behavior based control. In this kind of control, a complex robot´s behavior can be obtained by the coordination of more simple behaviors. This emergent behavior may has multiple objectives. The present work proposes to make a brief comparison among different behavior coordination approaches. Particularly, the coordination inspired in an artificial immune system paradigm showed promising experimental results. These results were obtained over a case study in computer simulation as well as in laboratory experiments with a Khepera II microrobot.