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
Coordination Artifacts: Environment-Based Coordination for Intelligent Agents
AAMAS '04 Proceedings of the Third International Joint Conference on Autonomous Agents and Multiagent Systems - Volume 1
Review on Computational Trust and Reputation Models
Artificial Intelligence Review
Elements of Information Theory (Wiley Series in Telecommunications and Signal Processing)
Elements of Information Theory (Wiley Series in Telecommunications and Signal Processing)
Introduction to Discrete Event Systems
Introduction to Discrete Event Systems
ECAL'07 Proceedings of the 9th European conference on Advances in artificial life
Modeling and designing self-organized aggregation in a swarm of miniature robots
International Journal of Robotics Research
Autonomous Agents and Multi-Agent Systems
The cognitive and behavioral mediation of institutions: Towards an account of institutional actions
Cognitive Systems Research
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The work described is part of a long term program of introducing institutional robotics, a novel framework for the coordination of robot teams that stems from institutional economics concepts. Under the framework, institutions are cumulative sets of persistent artificial modifications made to the environment or to the internal mechanisms of a subset of agents, thought to be functional for the collective order. In this article we introduce a formal model of institutional controllers based on Petri nets. We define executable Petri nets-an extension of Petri nets that takes into account robot actions and sensing-to design, program, and execute institutional controllers. We use a generalized stochastic Petri net view of the robot team controlled by the institutional controllers to model and analyze the stochastic performance of the resulting distributed robotic system. The ability of our formalism to replicate results obtained using other approaches is assessed through realistic simulations of up to 40 e-puck robots. In particular, we model a robot swarm and its institutional controller with the goal of maintaining wireless connectivity, and successfully compare our model predictions and simulation results with previously reported results, obtained by using finite state automaton models and controllers.