Micro autonomous robotic system and biologically inspired immune swarm strategy as a multi agent robotic system

This paper presents both the hardware and the software architectures for the multi agent robotic system. For the hardware architecture of the multi agent robotic system, the authors show the programmable MARS (micro autonomous robotic system). This robot can work for one of the agents of the multi agent robotic system. The size of this robot is 20 mm cubic. The authors can rewrite and download any programs by the infrared communication function and the programmable function. For the software architecture of the multi agent system, the authors propose the algorithm which can adapt and generate the swarm strategy in the dynamic environment, based on the biological immune system. The authors adopt the self and non-self recognition network of the immune system in their algorithm.