A New Multi-Robot Self-Determination Cooperation Method Based on Immune Agent Network

In this paper, we propose an immune agent model combining the artificial immune system with the agent technology. In the model, a robot is regarded as an antibody and each environmental condition as an antigen respectively. Furthermore, based on the model, a new multi-robots cooperation algorithm is designed to build self-determination cooperation among robots even in a new environment. Inspired by pheromone from ants algorithm, a new pheromone as Inter-stimulus between robots in the model is introduced to the algorithm. By comparing the inter-stimulus value between antigen and antibody and among antibodies, the system will autonomously produce appropriate antibodies to kill the antigen. Finally, the model will be verified by simulation.