Mobile UNITY: reasoning and specification in mobile computing
ACM Transactions on Software Engineering and Methodology (TOSEM)
Goal-Oriented Requirements Engineering: A Guided Tour
RE '01 Proceedings of the Fifth IEEE International Symposium on Requirements Engineering
Deriving tabular event-based specifications from goal-oriented requirements models
Requirements Engineering
Modeling adaptive behaviors in Context UNITY
Theoretical Computer Science
Event-B Patterns for Specifying Fault-Tolerance in Multi-agent Interaction
Methods, Models and Tools for Fault Tolerance
A Goal-Based Approach to Guide the Design of an Abstract Event-B Specification
ICECCS '11 Proceedings of the 2011 16th IEEE International Conference on Engineering of Complex Computer Systems
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Multi-robotic systems are typical examples of complex multi-agent systems. The robots --- autonomic agents --- cooperate with each other in order to achieve the system goals. While designing multi-robotic systems, we should ensure that these goals remain achievable despite robot failures, i.e., guarantee system fault tolerance. However, designing the fault tolerance mechanisms for multi-agent systems is a notoriously difficult task. In this paper we describe a case study in formal development of a complex fault tolerant multi-robotic system. The system design relies on cooperative error recovery and dynamic reconfiguration. We demonstrate how to specify and verify essential properties of a fault tolerant multi-robotic system in Event-B and derive a detailed formal system specification by refinement. The main objective of the presented case study is to investigate suitability of a refinement approach for specifying a complex multi-agent system with co-operative error recovery.