Abstract: Swarm robotic system is an important research direction of multirobot system, which is composed of many simple and undifferentiated robots. Compared with the individual robot, swarm robotic system has good fault tolerance and robustness, but it will be affected when the partial failure of a robot appears, namely a robot has information interaction ability but no drive ability. Aiming at this problem, an optimal recovery strategy is proposed, which is based on the granuloma formation algorithm inspired by immune system. In the proposed approach, a discrete particle swarm optimization algorithm is introduced, which makes the swarm robotic system have fault selfhealing capability and complete its task quickly and effectively. The experimental results show that the proposed approach has good effects in the swarm robotic selfhealing system.

Key words:  swarm robotic system, fault selfhealing, immuneinspired algorithm