# A multi-tier immuno-inspired framework for heterogeneous mobile robotic systems

> Research article (Applied Soft Computing, 2018) · cited 12× · AI/ML

**Wikidata**: [openalex:W2833723290](https://www.wikidata.org/wiki/openalex:W2833723290)  
**Source**: https://4ort.xyz/entity/a-multi-tier-immuno-inspired-framework-for-heterogeneous-mobile-robotic-systems