Document - On the use of Bio-PEPA for modelling and analysing collective behaviours in swarm robotics

2013

Journal article Open Access

On the use of Bio-PEPA for modelling and analysing collective behaviours in swarm robotics

Massink M., Brambilla M., Latella D., Dorigo M., Birattari M.

Fluid flow analysis Formal Modeling Statistical Model Checking Swarm robotics Artificial Intelligence Informatique mathématique Fluid Flow Analysis D.2.4 Software/Program Verification Bio-PEPA Informatique générale 68N30 Mathematical aspects of software engineering Intelligence artificielle Modelling Swarm Robotics

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.

Source: Swarm intelligence 7 (2013): 201–228. doi:10.1007/s11721-013-0079-6

Publisher: Springer Science + Business Media Inc., Seacaucus, NJ , Stati Uniti d'America

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@article{oai:it.cnr:prodotti:215413,
	title = {On the use of Bio-PEPA for modelling and analysing collective behaviours in swarm robotics},
	author = {Massink M. and Brambilla M. and Latella D. and Dorigo M. and Birattari M.},
	publisher = {Springer Science + Business Media Inc., Seacaucus, NJ , Stati Uniti d'America},
	doi = {10.1007/s11721-013-0079-6},
	journal = {Swarm intelligence},
	volume = {7},
	pages = {201–228},
	year = {2013}
}