Self-organizing micro robotic system. (Biologically inspired immune network architecture and micro autonomous robotic system)

This paper proposes a control architecture of population balance for multiple robotic system which draws its inspiration from biological immune network architecture. Our architecture organizes suitable population balance against dynamic environment independently of any centralized control, whilst each robot decides its action without a global world model. This group strategy, suitable population balance, is organized as a side-effect of the interactions of the individual robots in the world