Related papers: Computer Aided Formal Design of Swarm Robotics Alg…
In swarm robotics, just as for an animal swarm in Nature, one of the aims is to reach and maintain a desired configuration. One of the possibilities for the team, to reach this aim, is to see what its neighbours are doing. This approach…
In this study we address existing deficiencies in the literature on applications of Particle Swarm Optimization to generate optimal designs. We present the results of a large computer study in which we bench-mark both efficiency and…
Swarm robotics is a creative method of organizing multi-robot structures, consisting of many basic robots influenced by communal insects. The greatest astonishing attribute of swarm robots is their capacity to function together to…
Despite their growing popularity, swarms of robots remain limited by the operating time of each individual. We present algorithms which allow a human to sculpt a swarm of robots into a shape that persists in space perpetually, independent…
This volume contains the proceedings of MARS 2022, the fifth workshop on Models for Formal Analysis of Real Systems, held as part of ETAPS 2022, the European Joint Conferences on Theory and Practice of Software. The MARS workshops bring…
Self-organized aggregation is a well studied behavior in swarm robotics as it is the pre-condition for the development of more advanced group-level responses. In this paper, we investigate the design of decentralized algorithms for a swarm…
First Order Logic (FOL) is a powerful reasoning tool for program verification. Recent work on Ivy shows that FOL is well suited for verification of parameterized distributed systems. However, specifying many natural objects, such as a ring…
The Kilobot is a widely used platform for investigation of swarm robotics. Physical Kilobots are slow moving and require frequent recalibration and charging, which significantly slows down the development cycle. Simulators can speed up the…
We study verification problems for autonomous swarms of mobile robots that self-organize and cooperate to solve global objectives. In particular, we focus in this paper on the model proposed by Suzuki and Yamashita of anonymous robots…
Automatic off-line design is an attractive approach to implementing robot swarms. In this approach, a designer specifies a mission for the swarm, and an optimization process generates suitable control software for the individual robots…
Swarm robotic systems utilize collective behaviour to achieve goals that might be too complex for a lone entity, but become attainable with localized communication and collective decision making. In this paper, a behaviour-based distributed…
The ubiquity of networking infrastructure in modern life necessitates scrutiny into networking fundamentals to ensure the safety and security of that infrastructure. The formalization of concurrent algorithms, a cornerstone of networking,…
Autonomous robotic systems are complex, hybrid, and often safety-critical; this makes their formal specification and verification uniquely challenging. Though commonly used, testing and simulation alone are insufficient to ensure the…
There are many well-studied swarming algorithms which are often suited to very specific purposes. As mobile sensor networks become increasingly complex, and are comprised of more and more agents, it makes sense to consider swarming…
Propagating patterns are used to transfer and process information in chemical and physical prototypes of unconventional computing devices. Logical values are represented by fronts of traveling diffusive, trigger or phase waves. We apply…
A software architecture defines the blueprints of a large computational system, and is thus a crucial part of the design and development effort. This task has been explored extensively in the context of mobile robots, resulting in a…
While the use of formal verification techniques is well established in the development of mission-critical software, it is still rare in the production of most other kinds of software. We share our experience that a formal verification tool…
This paper motivates why Real-Time Maude should be well suited to provide a formal semantics and formal analysis capabilities to modeling languages for embedded systems. One can then use the code generation facilities of the tools for the…
This paper proposes a novel methodology for addressing the simulation-reality gap for multi-robot swarm systems. Rather than immediately try to shrink or `bridge the gap' anytime a real-world experiment failed that worked in simulation, we…
This paper is based on and advocates the trend in software engineering of extending the use of software patterns as means of structuring solutions to software development problems (be they motivated by best practice or by company interests…