7,262 research outputs found
On formal specification of emergent behaviours in swarm robotic systems
It is a characteristic of swarm robotics that specifying overall emergent swarm behaviours in terms of the low-level behaviours of individual robots is very difficult. Yet if swarm robotics is to make the transition from the laboratory to real-world engineering realisation we need such specifications. This paper explores the use of temporal logic to formally specify, and possibly also prove, the emergent behaviours of a robotic swarm. The paper makes use of a simplified wireless connected swarm as a case study with which to illustrate the approach. Such a formal approach could be an important step toward a disciplined design methodology for swarm robotics
Towards adaptive multi-robot systems: self-organization and self-adaptation
Dieser Beitrag ist mit Zustimmung des Rechteinhabers aufgrund einer (DFG gefƶrderten) Allianz- bzw. Nationallizenz frei zugƤnglich.This publication is with permission of the rights owner freely accessible due to an Alliance licence and a national licence (funded by the DFG, German Research Foundation) respectively.The development of complex systems ensembles that operate in uncertain environments is a major challenge. The reason for this is that system designers are not able to fully specify the system during specification and development and before it is being deployed. Natural swarm systems enjoy similar characteristics, yet, being self-adaptive and being able to self-organize, these systems show beneficial emergent behaviour. Similar concepts can be extremely helpful for artificial systems, especially when it comes to multi-robot scenarios, which require such solution in order to be applicable to highly uncertain real world application. In this article, we present a comprehensive overview over state-of-the-art solutions in emergent systems, self-organization, self-adaptation, and robotics. We discuss these approaches in the light of a framework for multi-robot systems and identify similarities, differences missing links and open gaps that have to be addressed in order to make this framework possible
Towards formal models and languages for verifiable Multi-Robot Systems
Incorrect operations of a Multi-Robot System (MRS) may not only lead to
unsatisfactory results, but can also cause economic losses and threats to
safety. These threats may not always be apparent, since they may arise as
unforeseen consequences of the interactions between elements of the system.
This call for tools and techniques that can help in providing guarantees about
MRSs behaviour. We think that, whenever possible, these guarantees should be
backed up by formal proofs to complement traditional approaches based on
testing and simulation.
We believe that tailored linguistic support to specify MRSs is a major step
towards this goal. In particular, reducing the gap between typical features of
an MRS and the level of abstraction of the linguistic primitives would simplify
both the specification of these systems and the verification of their
properties. In this work, we review different agent-oriented languages and
their features; we then consider a selection of case studies of interest and
implement them useing the surveyed languages. We also evaluate and compare
effectiveness of the proposed solution, considering, in particular, easiness of
expressing non-trivial behaviour.Comment: Changed formattin
Robotic swarm control from spatio-temporal specifications
In this paper, we study the problem of controlling a two-dimensional robotic swarm with the purpose of achieving high level and complex spatio-temporal patterns. We use a rich spatio-temporal logic that is capable of describing a wide range of time varying and complex spatial configurations, and develop a method to encode such formal specifications as a set of mixed integer linear constraints, which are incorporated into a mixed integer linear programming problem. We plan trajectories for each individual robot such that the whole swarm satisfies the spatio-temporal requirements, while optimizing total robot movement and/or a metric that shows how strongly the swarm trajectory resembles given spatio-temporal behaviors. An illustrative case study is included.This work was partially supported by the National Science Foundation under grants NRI-1426907 and CMMI-1400167. (NRI-1426907 - National Science Foundation; CMMI-1400167 - National Science Foundation
Towards a Formal Verification Methodology for Collective Robotic Systems
We introduce a UML-based notation for graphically modeling
systemsā security aspects in a simple and intuitive
way and a model-driven process that transforms graphical
specifications of access control policies in XACML. These
XACML policies are then translated in FACPL, a policy
language with a formal semantics, and the resulting policies
are evaluated by means of a Java-based software tool
Symmetry Reduction Enables Model Checking of More Complex Emergent Behaviours of Swarm Navigation Algorithms
The emergent global behaviours of robotic swarms are important to achieve
their navigation task goals. These emergent behaviours can be verified to
assess their correctness, through techniques like model checking. Model
checking exhaustively explores all possible behaviours, based on a discrete
model of the system, such as a swarm in a grid. A common problem in model
checking is the state-space explosion that arises when the states of the model
are numerous. We propose a novel implementation of symmetry reduction, in the
form of encoding navigation algorithms relatively with respect to a reference,
based on the symmetrical properties of swarms in grids. We applied the relative
encoding to a swarm navigation algorithm, Alpha, modelled for the NuSMV model
checker. A comparison of the state-space and verification results with an
absolute (or global) and a relative encoding of the Alpha algorithm highlights
the advantages of our approach, allowing model checking larger grid sizes and
number of robots, and consequently, verifying more complex emergent behaviours.
For example, a property was verified for a grid with 3 robots and a maximum
allowed size of 8x8 cells in a global encoding, whereas this size was increased
to 16x16 using a relative encoding. Also, the time to verify a property for a
swarm of 3 robots in a 6x6 grid was reduced from almost 10 hours to only 7
minutes. Our approach is transferable to other swarm navigation algorithms.Comment: Accepted for presentation in Towards Autonomous Robotic Systems
(TAROS) 2015, Liverpool, U
Robot swarming applications
This paper discusses the different modes of operation of a swarm of robots: (i) non-communicative swarming, (ii) communicative swarming, (iii) networking, (iv) olfactory-based navigation and (v) assistive swarming. I briefly present the state of the art in swarming and outline the major techniques applied for each mode of operation and discuss the related problems and expected results
Distributed Monitoring of Robot Swarms with Swarm Signal Temporal Logic
In this paper, we develop a distributed monitoring framework for robot swarms
so that the agents can monitor whether the executions of robot swarms satisfy
Swarm Signal Temporal Logic (SwarmSTL) formulas. We define generalized moments
(GMs) to represent swarm features. A dynamic generalized moments consensus
algorithm (GMCA) with Kalman filter (KF) is proposed so that each agent can
estimate the GMs. Also, we obtain an upper bound for the error between an
agent's estimate and the actual GMs. This bound is independent of the motion of
the agents. We also propose rules for monitoring SwarmSTL temporal and logical
operators. As a result, the agents can monitor whether the swarm satisfies
SwarmSTL formulas with a certain confidence level using these rules and the
bound of the estimation error. The distributed monitoring framework is applied
to a swarm transporting supplies example, where we also show the efficacy of
the Kalman filter in the dynamic generalized moments consensus process
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