PUMA
Istituto di Scienza e Tecnologie dell'Informazione     
Massink M., Brambilla M., Latella D., Dorigo M., Birattari M. On the use of Bio-PEPA for modelling and analysing collective behaviours in swarm robotics. In: Swarm Intelligence, vol. 7 (2-3) pp. 201 - 228. Springer, 2013. [Online First 14 April 2013]
 
 
Abstract
(English)
In this paper we analyse a swarm robotics system using Bio-PEPA. Bio-PEPA is a process algebra language originally developed to analyse biochemical systems. A swarm robotics system can be analysed at two levels: the macroscopic level, to study the collective behaviour of the system, and the microscopic level, to study the robot-to-robot and robot-to- environment interactions. In general, multiple models are necessary to analyse a system at different levels. However, developing multiple models increases the effort needed to analyse a system and raises issues about the consistency of the results. Bio-PEPA, instead, allows the researcher to perform stochastic simulation, fluid flow (ODE) analysis and statistical model checking using a single description, reducing the effort necessary to perform the analysis and ensuring consistency between the results. Bio-PEPA is well suited for swarm robotics systems: by using Bio-PEPA it is possible to model distributed systems and their space- time characteristics in a natural way. We validate our approach by modelling a collective decision-making behaviour.
URL: http://link.springer.com/article/10.1007/s11721-013-0079-6
DOI: 10.1007/s11721-013-0079-6
Subject Formal Modeling
Swarm Robotics
Fluid Flow Analysis
D.2.4 Software/Program Verification
68N30 Mathematical aspects of software engineering


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