Paper Info
Title
On the use of Bio-PEPA for modelling and analysing collective behaviours in swarm robotics.
Abstract
In this paper we analyse a swarm robotics system using Bio-PEPA. Bio-PEPA is a process algebra language originally developed to analyse biochemical systems. A swarm robotics system can be analysed at two levels: the macroscopic level, to study the collective behaviour of the system, and the microscopic level, to study the robot-to-robot and robot-to-environment interactions. In general, multiple models are necessary to analyse a system at different levels. However, developing multiple models increases the effort needed to analyse a system and raises issues about the consistency of the results. Bio-PEPA, instead, allows the researcher to perform stochastic simulation, fluid flow (ODE) analysis and statistical model checking using a single description, reducing the effort necessary to perform the analysis and ensuring consistency between the results. Bio-PEPA is well suited for swarm robotics systems: by using Bio-PEPA it is possible to model distributed systems and their space-time characteristics in a natural way. We validate our approach by modelling a collective decision-making behaviour.
Year
DOI
Venue
2013
10.1007/s11721-013-0079-6
Swarm intelligence
Keywords
Field
DocType
Swarm robotics,Modelling,Bio-PEPA,Fluid flow analysis,Statistical model checking
Stochastic simulation,Computer science,Statistical model checking,Artificial intelligence,Process calculus,Ode,PEPA,Machine learning,Multiple Models,Swarm robotics
Journal
Volume
Issue
ISSN
7
2-3
1935-3812
Citations 
PageRank 
References 
11
0.65
38
Authors
5
Name
Order
Citations
PageRank
Mieke Massink1109587.58
Manuele Brambilla232515.84
Diego Latella31168113.42
Marco Dorigo4140311211.61
Mauro Birattari52021146.61