Autonomous fault tolerant multi-robot coordination for object transportation based on Artificial Immune System

An efficient coordination strategy is required in order to realize an efficient and autonomous multi-robot cooperative system. This paper presents an approach for coordination among robots prior to cooperative object transportation. This paper does not address the coordination that is required during cooperation, which has been researched by others. In the present paper, fault tolerant coordination is achieved using methodology of artificial immune system. The approach developed here is based on binding affinity between an antibody and an antigen, and the structure of antibody in a human immune system. The developed methodology is verified through physical experiments.