Decentralized Consensus-Making Mechanisms Based on Immune System. Application to a Behavior Arbitration of an Autonomous Mobile Robot.

Akio Ishiguro Yuji Watanabe Toshiyuki Kondo Yoshiki Uchikawa Decentralized Consensus-Making Mechanisms Based on Immune System. Application to a Behavior Arbitration of an Autonomous Mobile Robot. 82-87 1996 International Conference on Evolutionary Computation db/conf/icec/icec1996.html#IshiguroWKU96