Probabilistic Model Checking of Ant-Based Positionless Swarming

Robot swarms are collections of simple robots cooperating without centralized control. Control algorithms for swarms are often inspired by decentralised problem-solving systems found in nature. In this paper we conduct a formal analysis of an algorithm inspired by the foraging behaviour of ants, whe...

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Bibliographic Details
Published inTowards Autonomous Robotic Systems pp. 127 - 138
Main Authors Gainer, Paul, Dixon, Clare, Hustadt, Ullrich
Format Book Chapter
LanguageEnglish
Published Cham Springer International Publishing 21.06.2016
SeriesLecture Notes in Computer Science
Subjects
Micro Air Vehicles (MAV)
Pheromone Level
Probabilistic Computation Tree Logic (PCTL)
Probabilistic Model Checker PRISM
Robot Swarm
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ISBN3319403788
9783319403786
ISSN0302-9743
1611-3349
DOI10.1007/978-3-319-40379-3_13

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Summary:Robot swarms are collections of simple robots cooperating without centralized control. Control algorithms for swarms are often inspired by decentralised problem-solving systems found in nature. In this paper we conduct a formal analysis of an algorithm inspired by the foraging behaviour of ants, where a swarm of flying vehicles searches for a target at some unknown location. We show how both exhaustive model checking and statistical model checking can be used to check properties that complement the results obtained through simulation, resulting in information that would facilitate the logistics of swarm deployment.
ISBN:3319403788
9783319403786
ISSN:0302-9743
1611-3349
DOI:10.1007/978-3-319-40379-3_13