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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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
Online AccessGet full text
ISBN3319403788
9783319403786
ISSN0302-9743
1611-3349
DOI10.1007/978-3-319-40379-3_13

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Abstract 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.
AbstractList 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.
Author Dixon, Clare
Hustadt, Ullrich
Gainer, Paul
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Copyright Springer International Publishing Switzerland 2016
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Alboul, Lyuba
Aitken, Jonathan M.
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PublicationSubtitle 17th Annual Conference, TAROS 2016, Sheffield, UK, June 26--July 1, 2016, Proceedings
PublicationTitle Towards Autonomous Robotic Systems
PublicationYear 2016
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Snippet Robot swarms are collections of simple robots cooperating without centralized control. Control algorithms for swarms are often inspired by decentralised...
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StartPage 127
SubjectTerms Micro Air Vehicles (MAV)
Pheromone Level
Probabilistic Computation Tree Logic (PCTL)
Probabilistic Model Checker PRISM
Robot Swarm
Title Probabilistic Model Checking of Ant-Based Positionless Swarming
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