1. Immune Inspired Adaptive Cooperation in Heterogeneous Multi Robot Systems
Sazalinsyah Razali (syah)‏
Dr. Q. Meng (Supervisor)‏
Prof. S.H. Yang (Co-Supervisor)‏

2. Contents Introduction Literature Review
Other Approaches
Research Statement & Objectives
Immune Systems
Natural Immune System
Artificial Immune System
Immune Network Theory
Research Benefits & Applications
Summary

3. Introduction
Cooperation - autonomous and heterogeneous agents in order to achieve a common goal or to maximize the utility for each robot.
The environment is continuous (real-time).

4. Literature Review
Reasons why systems consisting of group of agent/robots are of interest:
tasks may be inherently too complex (or impossible) for a single agent/robot
building and using several simple agents/robot can be easier, cheaper, more flexible and more fault- tolerant
Even though the individual goal is taken into account, the benefit of the entire group should also be considered so that the group’s action can be considered rational (Boella, 2001).

5. Literature Review (cont.)‏
“Given some task specified by the designer, a multiple-robot system displays cooperative behaviors if, due to some underlying mechanism (i.e., the ‘mechanism of cooperation’), there is an increase in the total utility of the system” (Cao, Fukunaga, and Kahng, 1997).

6. Literature Review (cont.)‏
A system that is capable to adapt its behaviors to an ever-changing environment is indeed intelligent (Negnevitsky, 2005).
Proposes that the adaptation required for the cooperation among robots is using approaches that have its roots in biology (specifically the Immune System).

7. Other Approaches
ALLIANCE - is a fully distributed, behaviour-based architecture that incorporates the use of mathematically-modeled motivations (such as impatience and acquiescence) within each robot to achieve adaptive action selection. (Parker, L.E., 1998)‏
MAPS (Tew & Wyeth, 2000), STEAM (Tambe et. al., 1999), and CORDA (Prencipe, 2000).

8. Research Statement
Investigate the implementation of immune-based algorithm in achieving adaptive cooperation in a group of heterogeneous robots.

9. Research Objectives
To propose an immune-inspired approach on cooperation.
To establish an adaptive cooperation algorithm in heterogeneous robot teams.
To determine the effect of the applied approach in terms of efficiency in cooperation.

10. Natural Immune System

11. Basic Immune Activation & Effector Phases
(Nosssal, 1993)‏

12. Antigen & Antibody Model
(Lee, D.W. & Sim, K.B, 1997)‏

13. Artifical Immune System (AIS)‏
The artificial immune systems are composed of intelligent methodologies, inspired by the natural immune system, for the solution of real-world problems (Dasgupta, 1998)‏
An artificial immune system is a computational system based upon metaphors of the natural immune system (Timmis, 2000)‏

14. AIS Design Principles Representation Architecture
Affinity / Fitness functions
Dynamics / Metadynamics
(de Castro, L. N.)‏

15. Immune Network Theory
The immune system is composed of an enormous and complex network of paratopes that recognize sets of idiotopes, and of idiotopes that are recognized by sets of paratopes, thus each element can recognize as well as be recognized. (Jerne, 1974)‏

16. Jerne's Idiotopic Network Hypothesis
(Equation of Jerne's Idiotopic Network Hypothesis as proposed by Farmer
- includes stimulus & suppression from antibodies)‏

17. MRS & AIS
(Lee, D.W. & Sim, K.B, 1997)‏

18. Research Benefits
Cooperation in MRS – new algorithm in order to establish efficient cooperation.
The algorithm that utilizes a bio-inspired approach.
Possibility of extending it to other tasks / scenarios / domains.

19. Possible Applications
Disaster Search & Rescue
Military
Reconnaissance
Waste / Hazardous Clean-up
Robot Soccer

20. Player/Stage Platform

21. Conclusion
Studying the implementation of immune- based algorithm in achieving adaptive cooperation in heterogeneous multi- robot systems.

22. Thank You!
-syah-