Bojan Jakimovski Erik Maehle Artificial Immune System Based Robot Anomaly Detection Engine for Fault Tolerant Robots. 177-190 2008 ATC http://dx.doi.org/10.1007/978-3-540-69295-9_16 conf/atc/2008 db/conf/atc/atc2008.html#JakimovskiM08