A bioinspired mathematical model for a robotic swarm to discriminate between self and nonself robots

A robotic swarm is a self-organizing multi-robot system characterized by simplicity of individual agents, local sensing and communication capabilities, parallelism in task execution, robustness, scalability, flexibility and decentralized control. Security of robotic swarms has been largely overlooked and the main contribution of this paper is to propose a bioinspired formalism based on membrane computing and P colonies in order to provide the robotic swarm with a way to discern between own and foreign (self and nonself) robots.