• Journal of the Korean Institute of Intelligent Systems
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• 제14권2호
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• pp.164-170
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• 2004

This paper proposes a Distributed Autonomous Robotic System(AIS) based on Artificial Immune System(AIS) and Distributed Genetic Algorithm(DGA). The behaviors of robots in the system are divided into global behaviors and local behaviors. The global behaviors are actions to search tasks in environment. These actions are composed of two types: dispersion and aggregation. AIS decides one among above two actions, which robot should select and act on in the global. The local behaviors are actions to execute searched tasks. The robots learn the cooperative actions in these behaviors by the DGA in the local. The proposed system is more adaptive than the existing system at the viewpoint that the robots learn and adapt the changing of tasks.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 한국퍼지및지능시스템학회 2004년도 춘계학술대회 학술발표 논문집 제14권 제1호
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• pp.85-88
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• 2004

본 논문에서는 인공 면역 네트워크와 분류자 시스템을 이용한 자율 분산 로봇 시스템을 제안한다. 시스템에서 각 로봇의 행동은 전역행동과 지역행동으로 구성된다. 전역행동은 작업을 찾고 수행하기 위해 필요한 환경을 조성하는데 필요한 전반적인 행동들을 결정하고, 지역 행동은 작업을 수행할 때 각 로봇들이 어떤 방식으로 동작하는가를 결정한다. 이때 전역 행동은 인공 면역 네트워크를 이용하여 결정되며 작업을 빠른 속도로 탐색하며 탐색한 작업 주위로 적절한 수의 로봇이 집합하도록 한다. 또한 지역 행동은 분류자 시스템을 이용하여 결정되며 작업을 수행하는데 적절한 로봇의 역할을 결정한다.

• Journal of the Korean Institute of Intelligent Systems
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• 제14권6호
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• pp.699-704
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• 2004

This paper proposes a Distributed Autonomous Robotic System(DARS) based on an Artificial Immune System(AIS) and a Classifier System(CS). The behaviors of robots in the system are divided into global behaviors and local behaviors. The global behaviors are actions to search tasks in environment. These actions are composed of two types: aggregation and dispersion. AIS decides one among these two actions, which robot should select and act on in the global. The local behaviors are actions to execute searched tasks. The robots learn the cooperative actions in these behaviors by the CS in the local. The proposed system is more adaptive than the existing system at the viewpoint that the robots learn and adapt the changing of tasks.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 한국퍼지및지능시스템학회 2004년도 추계학술대회 학술발표 논문집 제14권 제2호
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• pp.94-97
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• 2004

독립된 자율로봇에서 머신비젼의 구동을 위해 본 논문에서는 DARS(Distributed Autonomous Robotic System)에 적용하기 위한 디지털 이미지 프로세싱을 연구하고, DARS의 개별 로봇에 이를 임베디드화하는 것을 연구한다. 따라서 로봇을 구동하기 위해 필요한 데이터를 CMOS 카메라로부터 수신하여 영상을 스캔한 후, 원영상을 신경망 알고리즘을 통해 클러스터링하여 필요한 데이터를 추출한다. 또 이를 사용자 컴퓨터 단말기 상에 디스플레이하고, 최종적으로 DARS의 자율 이동 로봇이 영상 데이터를 인지하여 특정한 선택 동작을 수행하도록 한다.

• Journal of the Korean Institute of Intelligent Systems
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• 제9권6호
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• pp.627-633
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• 1999

In this paper, we propose a method of cooperative control (T-cell modeling) and selection of group behavior strategy (B-cell modeling) based on immune system in distributed autonomous robotic system (DARS). Immune system is living body's self-protection and self-maintenance system. These features can be applied to decision making of optimal swarm behavior in dynamically changing environment. For applying immune system to DARS, a robot is regarded as a ？3-cell, each environmental condition as an antigen, a behavior strategy as an antibody and control parameter as a T-cell respectively. When the environmental condition (antigen) changes, a robot selects an appropriate behavior strategy (antibody). And its behavior strategy is stimulated and suppressed by other robot using communication (immune network). Finally much stimulated strateby is adopted as a swarm behavior strategy. This control scheme is based on clonal selection and immune network hypothesis, and it is used for decision making of optimal swarm strategy. Adaptation ability of robot is enhanced by adding T-cell model as a control parameter in dynamic environments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1986년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 17-18 Oct. 1986
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• pp.181-183
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• 1986

This paper describes the concept of ADS (Autonomous Decentralized System) and its application to FA (Factory Automation). The schemes of ADFAS (Autonomous Decentralized Factory Automation System) utilizing these concepts are presented.

• Journal of the Korean Institute of Telematics and Electronics T
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• 제36T권2호
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• pp.14-20
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• 1999

In this paper, we discuss about implementation of a wireless communication system for a distributed autonomous robotic system. In order to achieve cooperative behavior among mobile robots, it is required to perform communication. Based on this requirements, we examined to the application in a wireless communication system used by mobile robots. This paper describes a conceptual and experimental framework which provides a distributed control architecture for the study of interactions between multiple mobile robots.

• Journal of the Korean Institute of Intelligent Systems
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• 제8권4호
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• pp.8-17
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• 1998

Autonomous mobile robot agents(AMRAs) are robots which perform a given task by the same distributed self-organizing rules. In this paper, we let them form an equi-distance circle for the task of cooperative behaviors. Here, we suggest an algorithm to perform the taqk and then utilize a fuzzy system to improve the algorithm. It is shown that various cooperative activities appear in the simulation and particularly chaotic behaviors also appear by increasing the robot speed. Moreover, we prove the characteristics of this chaotic behaviors by calculating Lyapunov exponent.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.29-31
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• 1987

As the conventional manipulators are centralized system, they are considered to have many problems in future because of their wiring and software. For this reason, a rather advanced intelligent manipulator Is not able to realize by using the centralized concept. And this paper describes the manipulator based on autonomous distributed concept to solve the problems.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 한국퍼지및지능시스템학회 1997년도 추계학술대회 학술발표 논문집
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• pp.83-86
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• 1997

우리는 자연계에서 새나 어류가 무리지어서 다니는 특이한 모습을 볼 수 있다. 본 논문을 복수 에이전트 모빌 로봇을 이용하여 이들이 효율적인 전략적 규칙으로부터 이런 복잡한 행동의 결과를 나타낼 수 있음을 보여준다. 모의 실험된 무리는 분산된 행동 모델로 구현되었으며 각각의 모빌 로봇간의 상대적으로 단순한 상호작용의 결과이다. 또한 여기서 모의 실험된 각각의 모빌 로봇은 동적인 환경을 감지함에 따라 움직이는 독립된 개체로서 자신의 움직임을 결정한다.