Cells and Robots

Modeling and Control of Large-Size Agent Populations

  • Dejan Lj. Milutinović
  • Pedro U. Lima

Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 32)

About this book


Cells and Robots is an outcome of the multidisciplinary research extending over Biology, Robotics and Hybrid Systems Theory. It is inspired by modeling reactive behavior of the immune system cell population, where each cell is considered as an independent agent. In our modeling approach, there is no difference if the cells are naturally or artificially created agents, such as robots. This appears even more evident when we introduce a case study concerning a large-size robotic population scenario. Under this scenario, we also formulate the optimal control of maximizing the probability of robotic presence in a given region and discuss the application of the Minimum Principle for partial differential equations to this problem. Simultaneous consideration of cell and robotic populations is of mutual benefit for Biology and Robotics, as well as for the general understanding of multi-agent system dynamics.

The text of this monograph is based on the PhD thesis of the first author. The work was a runner-up for the fifth edition of the Georges Giralt Award for the best European PhD thesis in Robotics, annually awarded by the European Robotics Research Network (EURON).


Multi-agent system agents modeling robot robotics robotics research systems theory

Authors and affiliations

  • Dejan Lj. Milutinović
    • 1
  • Pedro U. Lima
    • 2
  1. 1.Duke University Laboratory of Computational ImmunologyDurhamUSA
  2. 2.Institute for Systems and RoboticsInstituto Superior TécnicoLisbonPortugal

Bibliographic information

  • DOI
  • Copyright Information Springer-Verlag Berlin Heidelberg 2007
  • Publisher Name Springer, Berlin, Heidelberg
  • eBook Packages Engineering
  • Print ISBN 978-3-540-71981-6
  • Online ISBN 978-3-540-71982-3
  • Series Print ISSN 1610-7438
  • Buy this book on publisher's site