Name
Abstract | ||
|---|---|---|
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. |
Year | DOI | Venue |
|---|---|---|
2012 | 10.5555/2343576.2343596 | AAMAS |
Keywords | Field | DocType |
property-driven design,hardware independent model,collective behavior,probabilistic computation tree logic,discrete time markov chains,novel top-down design method,general description,code-and-fix approach,swarm robotics system,top down design,swarm robotics,aggregation | Iterative and incremental development,Reuse,Computer science,Ant robotics,Markov chain,Probabilistic CTL,Discrete time and continuous time,Robot,Distributed computing,Swarm robotics | Conference |
ISBN | Citations | PageRank |
0-9817381-1-7 | 14 | 0.76 |
References | Authors | |
19 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Manuele Brambilla | 1 | 325 | 15.84 |
| Carlo Pinciroli | 2 | 419 | 30.54 |
| Mauro Birattari | 3 | 2021 | 146.61 |
| Marco Dorigo | 4 | 14031 | 1211.61 |