Manuele Brambilla, Marco Dorigo, and Mauro Birattari. 2014
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In this paper, we present property-driven design, a novel top-down design method for robot swarms based on prescriptive modeling and model checking. Traditionally robot swarms have been developed using a code-and-fix approach: in a bottom-up iterative process, the developer tests and improves the individual behaviors of the robots until the desired collective behavior is obtained. The code-and-fix approach is unstructured and the quality of the obtained swarm depends completely on the expertise and ingenuity of the developer. Property-driven design is composed of four phases: first, the developer formally specifies the requirements of the robot swarm by stating its desired properties; second, the developer creates a prescriptive model of the swarm and uses model checking to verify that this prescriptive model satisfies the desired properties; third, using the prescriptive model as a blueprint, the developer implements a simulated version of the desired robot swarm and validates the prescriptive model developed in the previous steps; fourth, the developer implements the desired robot swarm and validates the previous steps. In this paper, we demonstrate property-driven design using two case studies: aggregation and foraging.
Keywords: Swarm robotics, Swarm engineering, Top-down design, Aggregation, Foraging
All the simulated experiments have been performed using the ARGoS simulator. All videos are in real time.
The real robots experiments have been performed using the e-puck robot. All videos are in real time.
All the simulated experiments have been performed using the ARGoS simulator.
The real robots experiments have been performed using the e-puck robot.