Self-Repairing Mobile Robotic Car using Astrocyte Neuron Networks

Junxiu Liu, Jim Harkin, LJ McDaid, D Halliday, A Tyrrell, J Timmis

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

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A self-repairing robot utilising a spiking astrocyteneuronnetwork is presented in this paper. It uses the outputspike frequency of neurons to control the motor speed and robotactivation. A software model of the astrocyte-neuron networkpreviously demonstrated self-detection of faults and its selfrepairingcapability. In this paper the application demonstratorof mobile robotics is employed to evaluate the fault-tolerant capabilitiesof the astrocyte-neuron network when implemented ina hardware-based robotic car system. Results demonstrated thatwhen 20% or less synapses associated with a neuron are faulty,the robot car can maintain system performance and complete thetask of forward motion correctly. If 80% synapses are faulty, thesystem performance shows a marginal degradation, however thisdegradation is much smaller than that of conventional faulttoleranttechniques under the same levels of faults. This is thefirst time that astrocyte cells merged within spiking neuronsdemonstrates a self-repairing capabilities in the hardware systemfor a real application
Original languageEnglish
Title of host publicationUnknown Host Publication
Number of pages8
Publication statusAccepted/In press - 15 Mar 2016
EventInternational Joint Conference on Neural Networks (IJCNN) - Canda
Duration: 15 Mar 2016 → …


ConferenceInternational Joint Conference on Neural Networks (IJCNN)
Period15/03/16 → …


  • self-repair
  • adapt
  • astrocyte
  • glia
  • robotic
  • FPGAs
  • hardware
  • error
  • fault
  • detection
  • adaptive


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