On the Formal Specification of Emergent Behaviours of Swarm Robotics Systems

TitleOn the Formal Specification of Emergent Behaviours of Swarm Robotics Systems
Publication TypeJournal Article
Year of Publication2005
AuthorsA. Winfield, J. Sa, C. Fernandez-Gago, C. Dixon, and M. Fisher
JournalInternational Journal of Advanced Robotics Systems
Volume2
Pagination363-371
ISSN Number1729-8806
KeywordsSwarm Robotics, temporal resolution
Abstract

It is a characteristic of swarm robotics that specifying overall emergent swarm behaviours in terms of the low-level behaviours of individual robots is very difficult. Yet if swarm robotics is to make the transition from the laboratory to real-world engineering realisation we need such specifications. This paper explores the use of temporal logic to formally specify, and possibly also prove, the emergent behaviours of a robotic swarm. The paper makes use of a simplified wireless connected swarm as a case study with which to illustrate the approach. Such a formal approach could be an important step toward a disciplined design methodology for swarm robotics.

Citation KeyWinfield2005
Paper File: 
https://www.nics.uma.es/sites/default/files/papers/Winfield2005.pdf