Model-checking continuous-time Markov chains
ACM Transactions on Computational Logic (TOCL)
Approximate Symbolic Model Checking of Continuous-Time Markov Chains
CONCUR '99 Proceedings of the 10th International Conference on Concurrency Theory
Theory, Volume 1, Queueing Systems
Theory, Volume 1, Queueing Systems
Fluid Flow Approximation of PEPA models
QEST '05 Proceedings of the Second International Conference on the Quantitative Evaluation of Systems
Bio-PEPA: An Extension of the Process Algebra PEPA for Biochemical Networks
Electronic Notes in Theoretical Computer Science (ENTCS)
Bio-PEPA: A framework for the modelling and analysis of biological systems
Theoretical Computer Science
QEST '09 Proceedings of the 2009 Sixth International Conference on the Quantitative Evaluation of Systems
Modelling non-linear crowd dynamics in bio-PEPA
FASE'11/ETAPS'11 Proceedings of the 14th international conference on Fundamental approaches to software engineering: part of the joint European conferences on theory and practice of software
PRISM 4.0: verification of probabilistic real-time systems
CAV'11 Proceedings of the 23rd international conference on Computer aided verification
Towards temporal verification of emergent behaviours in swarm robotic systems
TAROS'11 Proceedings of the 12th Annual conference on Towards autonomous robotic systems
Analysing robot swarm behaviour via probabilistic model checking
Robotics and Autonomous 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
Scalable context-dependent analysis of emergency egress models
Formal Aspects of Computing
Property-driven design for swarm robotics
Proceedings of the 11th International Conference on Autonomous Agents and Multiagent Systems - Volume 1
Analysing robot swarm decision-making with Bio-PEPA
ANTS'12 Proceedings of the 8th international conference on Swarm Intelligence
Analysing robot swarm decision-making with Bio-PEPA
ANTS'12 Proceedings of the 8th international conference on Swarm Intelligence
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We present a novel method to analyse swarm robotics systems based on Bio-PEPA. Bio-PEPA is a process algebraic language originally developed to analyse biochemical systems. Its main advantage is that it allows different kinds of analyses of a swarm robotics system starting from a single description. In general, to carry out different kinds of analysis, it is necessary to develop multiple models, raising issues of mutual consistency. With Bio-PEPA, instead, it is possible to perform stochastic simulation, fluid flow analysis and statistical model checking based on the same system specification. This reduces the complexity of the analysis and ensures consistency between analysis results. Bio-PEPA is well suited for swarm robotics systems, because it lends itself well to modelling distributed scalable systems and their space-time characteristics. We demonstrate the validity of Bio-PEPA by modelling collective decision-making in a swarm robotics system and we evaluate the result of different analyses.