Communicating sequential processes
Communications of the ACM
Minimalist coherent swarming of wireless networked autonomous mobile robots
ICSAB Proceedings of the seventh international conference on simulation of adaptive behavior on From animals to animats
Properties of a Formal Method for Prediction of Emergent Behaviors in Swarm-Based Systems
SEFM '04 Proceedings of the Software Engineering and Formal Methods, Second International Conference
Verifying Large Numbers of Cooperating Adaptive Agents
ICPADS '05 Proceedings of the 11th International Conference on Parallel and Distributed Systems - Volume 01
Mechanising first-order temporal resolution
Information and Computation - Special issue: 19th international conference on automated deduction (CADE-19)
Towards dependable swarms and a new discipline of swarm engineering
SAB'04 Proceedings of the 2004 international conference on Swarm Robotics
A review of probabilistic macroscopic models for swarm robotic systems
SAB'04 Proceedings of the 2004 international conference on Swarm Robotics
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Complex Emergent Discrete Event Systems (CEDES) are those where sequence of local events between simple agents or agents and their environment lead to the emergence of overall behavior following certain design goals. Such systems are proved to be robust and scaleable and therefore find many applications in real world. However they require sound mathematical models that would guarantee desired emergent behavior. We in this paper consider such a system which consists of a swarm of wirelessly connected simple robots and present a novel matrix formulation to model their emergent coherent movement. This approach can be applied not only to model the dynamics of CEDES but also to quickly verify its emergent behavior and is readily executable. The simulation in MATLAB gives interesting insight into emergent behavior of the CEDES over time, which other wise require expensive experimentation.