Record link: 
http://hdl.handle.net/20.500.12708/219278
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Title: 
Robot Swarms as Hybrid Systems: Modelling and Verification
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Citation: 
Schupp, S., Leofante, F., Behr, L., Abraham, E., & Taccella, A. (2022). Robot Swarms as Hybrid Systems: Modelling and Verification. In Proceedings The 7th International Workshop on Symbolic-Numeric Methods for Reasoning about CPS and IoT (pp. 61–77). https://doi.org/10.4204/EPTCS.361.7
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Publisher DOI: 
10.4204/EPTCS.361.7
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Publication Type: 
Inproceedings - Full-Paper Contribution
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Language: 
English
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Authors: 
Schupp, Stefan 
Leofante, Francesco 
Behr, Leander 
Abraham, Erika 
Taccella, Armando 
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Organisational Unit: 
E191-01 - Forschungsbereich Cyber-Physical Systems 
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Published in: 
Proceedings The 7th International Workshop on Symbolic-Numeric Methods for Reasoning about CPS and IoT 
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Volume: 
361
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Date (published): 
2022
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Event name: 
7th International Workshop on Symbolic-Numeric Methods for Reasoning about CPS and IoT (SNR 2021) 
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Event date: 
23-Aug-2021
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Event place: 
Virtual, Unknown
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Number of Pages: 
17
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Peer reviewed: 
Yes
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Keywords: 
Swarm Intelligence; Robotics; Hybrid Systems
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Abstract: 
A swarm robotic system consists of a team of robots performing cooperative tasks without any centralized coordination. In principle, swarms enable flexible and scalable solutions; however, designing individual control algorithms that can guarantee a required global behavior is difficult. Formal methods have been suggested by several researchers as a mean to increase confidence in the behavior of the swarm. In this work, we propose to model swarms as hybrid systems and use reachability analysis to verify their properties. We discuss challenges and report on the experience gained from applying hybrid formalisms to the verification of a swarm robotic system.
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Additional information: 
https://arxiv.org/abs/2207.04391
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Research Areas: 
Computer Engineering and Software-Intensive Systems: 100%
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Science Branch: 
2020 - Elektrotechnik, Elektronik, Informationstechnik: 100%
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Appears in Collections:
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