Swarm Intelligence

, Volume 7, Issue 2–3, pp 201–228 | Cite as

On the use of Bio-PEPA for modelling and analysing collective behaviours in swarm robotics

  • Mieke Massink
  • Manuele Brambilla
  • Diego Latella
  • Marco Dorigo
  • Mauro Birattari
Article

Abstract

In this paper we analyse a swarm robotics system using Bio-PEPA. Bio-PEPA is a process algebra language originally developed to analyse biochemical systems. A swarm robotics system can be analysed at two levels: the macroscopic level, to study the collective behaviour of the system, and the microscopic level, to study the robot-to-robot and robot-to-environment interactions. In general, multiple models are necessary to analyse a system at different levels. However, developing multiple models increases the effort needed to analyse a system and raises issues about the consistency of the results. Bio-PEPA, instead, allows the researcher to perform stochastic simulation, fluid flow (ODE) analysis and statistical model checking using a single description, reducing the effort necessary to perform the analysis and ensuring consistency between the results. Bio-PEPA is well suited for swarm robotics systems: by using Bio-PEPA it is possible to model distributed systems and their space-time characteristics in a natural way. We validate our approach by modelling a collective decision-making behaviour.

Keywords

Swarm robotics Modelling Bio-PEPA Fluid flow analysis Statistical model checking 

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Copyright information

© Springer Science+Business Media New York 2013

Authors and Affiliations

  • Mieke Massink
    • 1
  • Manuele Brambilla
    • 2
  • Diego Latella
    • 1
  • Marco Dorigo
    • 2
  • Mauro Birattari
    • 2
  1. 1.Istituto di Scienza e Tecnologie dell’Informazione ‘A. Faedo’ (ISTI)CNRPisaItaly
  2. 2.IRIDIA, CoDEUniversité Libre de BruxellesBrusselsBelgium

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