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
Results 1-5 of 35
... 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 systems ...
... 1. Introduction ................................................ 1.1 Analogy Between an Individual Robot. Lisboa, Portugal Pedro U. Lima February 2007 Fig. 1.2. T-cell structure: the T-cell receptors are expressed on.
... Individual Robot and a Cell . . . . . . . . . . . . . 1.2 Robot Teams and Cell Populations ... Individual Model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20 3.5 Stochastic Micro-Agent ...
... individual agent dynamical behavior propagates to the population dynamics. The presented concepts and mathematical tools are general enough and provide results 1 Motility - ability to move spontaneously and independently [22]. D ...
... Individual. Robot. and. a. Cell. To illustrate the analogy between an autonomous mobile robot and a motile immune system cell, we will consider a robot which is able to avoid obstacles while moving towards a goal location, and a cell which ...
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 |