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

Safe Neighborhood Computation for Hybrid System Verification

For the design and implementation of engineering systems, performing model-based analysis can disclose potential safety issues at an early stage. The analysis of hybrid system models is in general difficult due to the intrinsic complexity of hybrid dynamics. In this paper, a simulation-based approach to formal verification of hybrid systems is presented.Comment: In Proceedings HAS 2014, arXiv:1501.0540

On interconnection and equivalence of continuous and discrete systems : a behavioral perspective

In this thesis a unified systems theoretic framework for modeling and analysis of dynamical systems is presented. The approach is based on Willems¿ behavioral approach to systems theory. The main tenet of the behavioral approach is that systems are identified by their behavior, which is the collection of all possible trajectories of the system

Value passing for Communicating Piecewise Deterministic Markov Processes

In this paper we extend the CPDP model, which is used for compositional specification of PDP-type stochastic hybrid systems, to the value passing CPDP model. With value passing we can express communication of values of continuous variables between CPDP components. We show that the class of value passing CPDPs is closed under composition. We illustrate the use of value passing CPDPs by modelling an Air Traffic Management system as a network of interacting value passing CPDPs.

The canonical controller and its regularity

This paper deals with properties of canonical controllers. We first specify the behavior that they implement. It follows that a canonical controller implements the desired controlled behavior if and only if the desired behavior is implementable. We subsequently investigate the regularity of the controlled behavior. We prove that a canonical controller is regular if and only if every controller is regular. In other words, canonical controllers are maximally irregular

Wayang Authoring: A Web-based Authoring Tool for Visual Storytelling for Children

This research focuses on the development of the Wayang Authoring tool as it aims to assist children in creating and performing stories, developing an appreciation for cultural artifacts, and enhancing intercultural empathy while building a young storyteller community in a virtual world. This study seeks a framework of interaction design of an authoring media which is appropriate to support children s narrative development. The concept of the tool is based on the narrative element of the ancient Indonesian art form wayang, a traditional two dimensional shadow puppet theater. To understand the user s requirements and the cultural dimension, children and professional story performers who use wayang have been involved in the design process. In order to evaluate the tool, several workshops have been conducted with children from different cultural backgrounds as well as with their teachers. Wayang Authoring is composed of three elements: the imagination-building element, the creative acting element and the social interaction element. Children take existing materials as an inspiration tool, imagine what they themselves want to tell, create a story based on their own ideas, play with their creations, share their stories and creations with others, and reflect on their experiences at the end. This virtual creative production tool is expected to provide a space for young people to change their role from a simple user to a (co-)creator in the virtual and narrative worlds. The core contributions are in the field of web technology for storytelling. The uses of web-based authoring media enable children to put themselves into the process of developing stories. When they are connecting stories, they are connected and immersed with other children as well. They have to act and play by themselves or with others within the stories in order to experience the narratives. They train to have the skills to interact, to share their ideas and to collaborate constructively. This makes it possible for them to participate in today s media-driven culture. This research found that a better understanding of how stories are crafted and brought to life in a performance tradition offers a better design of interaction of an authoring media. The handling of cultural artifacts supports the ability to understand different cultural codes and to pursue the learning process surrounding the original culture behind these artifacts