Cells and Robots: Modeling and Control of Large-Size Agent PopulationsCells 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). |
From inside the book
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... behavior of individual agents can be described by hybrid automata and we try to come up with mathematical objects appropriate for the description of the population state and its evolution. This makes our effort to study multi-agent ...
... behavior in close relation to signal processing, communication and control for mobile robots. Investigation of the cell-robot analogy has the potential to influence future biological research, but also to provide the guidelines for the ...
... behavior is designed to approximate biological models of biological populations behavior. 1.1. Analogy. Between. an. Individual. Robot. and. a. Cell. To illustrate the analogy between an autonomous mobile robot and a motile immune system ...
... behavior, experimental immunologists consider cells of specific phenotype and follow their behavior within a controlled scenario. Mostly they follow the cell division, cell receptors or some bio-chemical marker expression. Based on ...
... behavior with other cells must be considered as well. In the next section, we deal with cell population models and the similarity between robot teams and cell populations. 1.2. Robot. Teams. and. Cell. Populations. One way to disclose the ...
Contents
1 | |
Immune System and TCell Receptor Dynamics of | 9 |
MicroAgent and Stochastic MicroAgent Models | 15 |
MicroAgent Population Dynamics | 25 |
Stochastic MicroAgent Model of the TCell Receptor | 35 |
Other editions - View all
Cells and Robots: Modeling and Control of Large-Size Agent Populations Dejan Lj. Milutinovic,Pedro U. Lima No preview available - 2007 |
Cells and Robots: Modeling and Control of Large-Size Agent Populations Dejan Lj. Milutinovic,Pedro U. Lima No preview available - 2009 |
Cells and Robots: Modeling and Control of Large-Size Agent Populations Dejan Lj. Milutinovic,Pedro U. Lima No preview available - 2010 |