IMMUNIZED AUTONOMOUS MULTI-ROBOT COOPERATION FOR MULTI OBJECTS TRANSPORTATION

This paper investigates an approach for coordination among multiple robots for the transportation of multiple objects to a specific location. In this paper, we propose an Artificial Immune System based dynamic task allocation to a group of autonomous and heterogeneous mobile robots. In our work, the system will autonomously select the appropriate number of capable robots required to cooperatively transport number of objects to a goal location. The environment is considered as dynamic and unknown, and there is no centralized knowledge available to the robots, hence the frame work is fully distributed and decentralized. The communication, coordination and cooperation strategies are inspired by Jerne's Idiotypic Network Theory and the structure of an antibody in a human immune system. The developed methodology of multi-robot cooperation is verified through computer simulation.