An Artificial Immune System for Self-Healing in Swarm Robotic Systems

  • Amelia R. Ismail
  • Jan D. Bjerknes
  • Jon Timmis
  • Alan Winfield
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9303)


Swarm robotics is concerned with the decentralised coordination of multiple robots having only limited communication and interaction abilities. Although fault tolerance and robustness to individual robot failures have often been used to justify the use of swarm robotic systems, recent studies have shown that swarm robotic systems are susceptible to certain types of failure. In this paper we propose an approach to self-healing swarm robotic systems and take inspiration from the process of granuloma formation, a process of containment and repair found in the immune system. We use a case study of a swarm performing team work where previous works have demonstrated that partially failed robots have the most detrimental effect on overall swarm behaviour. In response this, we have developed an immune inspired approach that permits the recovery from certain failure modes during operation of the swarm, overcoming issues that effect swarm behaviour associated with partially failed robots.


Failure Mode Granuloma Formation Artificial Immune System Centroid Distance Swarm Behaviour 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.



The authors would like to thank International Islamic University Malaysia and Ministry of Higher Education of Malaysia in funding this research, the CoSMoS project, funded by EPSRC grants EP/E053505/1 and EP/E049419/1 and the SYMBRION project under FP7: FET Proactive Initiative: PERVASIVE ADAPTATION (PERADA), grant number FP7-ICT-216342. JT is part funded by The Royal Academy of Engineering and The Royal Society.


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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • Amelia R. Ismail
    • 1
  • Jan D. Bjerknes
    • 2
  • Jon Timmis
    • 3
  • Alan Winfield
    • 4
  1. 1.Department of Computer ScienceInternational Islamic University MalaysiaKuala LumpurMalaysia
  2. 2.Kongsberg Defence SystemsKongsbergNorway
  3. 3.York Robotics Lab and Department of ElectronicsUniversity of YorkHeslington, YorkUK
  4. 4.Bristol Robotics LabUniversity of the West of EnglandBristolUK

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