Evolutionary Robotics: The Biology,Intelligence,and Technology
Evolutionary Robotics: The Biology,Intelligence,and Technology
Test Driven Development: By Example
Test Driven Development: By Example
Self-Organization in Biological Systems
Self-Organization in Biological Systems
Proceedings of the 17th Conference on Foundations of Software Technology and Theoretical Computer Science
Distributed, Physics-Based Control of Swarms of Vehicles
Autonomous Robots
Cooperative Multi-Agent Learning: The State of the Art
Autonomous Agents and Multi-Agent Systems
ICECCS '06 Proceedings of the 11th IEEE International Conference on Engineering of Complex Computer Systems
Optimized stochastic policies for task allocationin swarms of robots
IEEE Transactions on Robotics
Open E-puck range & bearing miniaturized board for local communication in swarm robotics
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
A macroscopic model for self-organized aggregation in swarm robotic systems
SAB'06 Proceedings of the 2nd international conference on Swarm robotics
Composable continuous-space programs for robotic swarms
Neural Computing and Applications
Formal verification of probabilistic swarm behaviours
ANTS'10 Proceedings of the 7th international conference on Swarm intelligence
Towards temporal verification of emergent behaviours in swarm robotic systems
TAROS'11 Proceedings of the 12th Annual conference on Towards autonomous robotic systems
Swarm robotics: from sources of inspiration to domains of application
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
PRISM: a tool for automatic verification of probabilistic systems
TACAS'06 Proceedings of the 12th international conference on Tools and Algorithms for the Construction and Analysis of Systems
Analysing robot swarm decision-making with Bio-PEPA
ANTS'12 Proceedings of the 8th international conference on Swarm Intelligence
Towards a formal verification methodology for collective robotic systems
ICFEM'12 Proceedings of the 14th international conference on Formal Engineering Methods: formal methods and software engineering
| Hi-index | 0.00 |
In this paper, we propose a novel top-down design method for the development of collective behaviors of swarm robotics systems called property-driven design. Swarm robotics systems are usually designed and developed using a code-and-fix approach, that is, the developer devises, tests and modifies the individual robot behaviors until a desired collective behavior is obtained. The code-and-fix approach can be very time consuming and relies completely on the ingenuity and expertise of the designer. The idea of property-driven design is that a swarm robotics system can be described by specifying formally a set of desired properties. In an iterative process similar to test-driven development, the developer produces a model of the system that satisfies the desired properties. Subsequently, the system is implemented in simulation and using real robots. Property-driven design helps to minimize the risk of developing a system that does not satisfy the required properties, and to promote the reuse of hardware independent models. In this paper, we start by giving a general description of the method. We then present a possible way to apply it by using Discrete Time Markov Chains (DTMC) and Probabilistic Computation Tree Logic* (PCTL*). Finally, we conclude by presenting the application of the proposed method to the design and development of a swarm robotics system performing aggregation.