Title :
A Prototype Model for Self-Healing and Self-Reproduction In Swarm Robotics System
Author :
Yuan-Shun Dai ; Hinchey, Michael ; Madhusoodan, Manish ; Rash, James L. ; Zou, Xukai
Author_Institution :
Dept. of Comput. & Inf. Sci., Indiana Univ.-Purdue Univ., Indianapolis, IN
fDate :
Sept. 29 2006-Oct. 1 2006
Abstract :
A swarm robotics system is a special type of wide-area and large-scale distributed system, which focuses on a group of robots cooperating to achieve the same goal using swarm intelligence. To treat the swarm robotics system with the self-healing and self-reproduction functions, this paper studied a prototype model based on the virtual neurons, autonomous self-diagnosis, consequence-oriented prescription, autonomous self-curing, and self-reproduction. This prototype system with self-healing has been implemented in the Trusted Electronics and Grid Obfuscation (TEGO) research center. Several practical cases were studied to show the effectiveness and efficiency of the model. The results demonstrate that the self-healing mechanism makes the system more reliable and the performance much improved, not only against failures, but also against failure propagations
Keywords :
distributed processing; mobile agents; multi-agent systems; neural nets; self-adjusting systems; Trusted Electronics and Grid Obfuscation research center; autonomous selfcuring; autonomous selfdiagnosis; consequence-oriented prescription; large-scale distributed system; robot cooperation; selfhealing function; selfreproduction function; swarm intelligence; swarm robotics system; virtual neurons; wide-area distributed system; Autonomic nervous system; Biology computing; Distributed computing; Intelligent robots; Large-scale systems; Neurons; Orbital robotics; Particle swarm optimization; Prototypes; Virtual prototyping;
Conference_Titel :
Dependable, Autonomic and Secure Computing, 2nd IEEE International Symposium on
Conference_Location :
Indianapolis, IN
Print_ISBN :
0-7695-2539-3
DOI :
10.1109/DASC.2006.10
