A Spatial Agent-Based Model of N-Person Prisoner's Dilemma Cooperation in a Socio-Geographic Community

The purpose of this paper is to present a spatial agent-based model of N-person prisoner's dilemma that is designed to simulate the collective communication and cooperation within a socio-geographic community. Based on a tight coupling of REPAST and a vector Geographic Information System, the model simulates the emergence of cooperation from the mobility behaviors and interaction strategies of citizen agents. To approximate human behavior, the agents are set as stochastic learning automata with Pavlovian personalities and attitudes. A review of the theory of the standard prisoner's dilemma, the iterated prisoner's dilemma, and the N-person prisoner's dilemma is given as well as an overview of the generic architecture of the agent-based model. The capabilities of the spatial N-person prisoner's dilemma component are demonstrated with several scenario simulation runs for varied initial cooperation percentages and mobility dynamics. Experimental results revealed that agent mobility and context preservation bring qualitatively different effects to the evolution of cooperative behavior in an analyzed spatial environment.Agent Based Modeling, Cooperation, Prisoners Dilemma, Spatial Interaction Model, Spatially Structured Social Dilemma, Geographic Information Systems

Fair Testing

In this paper we present a solution to the long-standing problem of characterising the coarsest liveness-preserving pre-congruence with respect to a full (TCSP-inspired) process algebra. In fact, we present two distinct characterisations, which give rise to the same relation: an operational one based on a De Nicola-Hennessy-like testing modality which we call should-testing, and a denotational one based on a refined notion of failures. One of the distinguishing characteristics of the should-testing pre-congruence is that it abstracts from divergences in the same way as Milner¿s observation congruence, and as a consequence is strictly coarser than observation congruence. In other words, should-testing has a built-in fairness assumption. This is in itself a property long sought-after; it is in notable contrast to the well-known must-testing of De Nicola and Hennessy (denotationally characterised by a combination of failures and divergences), which treats divergence as catrastrophic and hence is incompatible with observation congruence. Due to these characteristics, should-testing supports modular reasoning and allows to use the proof techniques of observation congruence, but also supports additional laws and techniques. Moreover, we show decidability of should-testing (on the basis of the denotational characterisation). Finally, we demonstrate its advantages by the application to a number of examples, including a scheduling problem, a version of the Alternating Bit-protocol, and fair lossy communication channel

Specification Patterns for Robotic Missions

Mobile and general-purpose robots increasingly support our everyday life, requiring dependable robotics control software. Creating such software mainly amounts to implementing their complex behaviors known as missions. Recognizing the need, a large number of domain-specific specification languages has been proposed. These, in addition to traditional logical languages, allow the use of formally specified missions for synthesis, verification, simulation, or guiding the implementation. For instance, the logical language LTL is commonly used by experts to specify missions, as an input for planners, which synthesize the behavior a robot should have. Unfortunately, domain-specific languages are usually tied to specific robot models, while logical languages such as LTL are difficult to use by non-experts. We present a catalog of 22 mission specification patterns for mobile robots, together with tooling for instantiating, composing, and compiling the patterns to create mission specifications. The patterns provide solutions for recurrent specification problems, each of which detailing the usage intent, known uses, relationships to other patterns, and---most importantly---a template mission specification in temporal logic. Our tooling produces specifications expressed in the LTL and CTL temporal logics to be used by planners, simulators, or model checkers. The patterns originate from 245 realistic textual mission requirements extracted from the robotics literature, and they are evaluated upon a total of 441 real-world mission requirements and 1251 mission specifications. Five of these reflect scenarios we defined with two well-known industrial partners developing human-size robots. We validated our patterns' correctness with simulators and two real robots