Modelling Autonomous Resilient Multi-robotic Systems

A4 Conference proceedings

Internal Authors/Editors

Publication Details

List of Authors: Inna Vistbakka, Elena Troubitsyna
Editors: Radu Calinescu, Felicita Di Giandomenico
Place: Italy
Publication year: 2019
Book title: Software Engineering for Resilient Systems
Title of series: Lecture Notes in Computer Science
Volume number: 11732
Start page: 29
End page: 45
ISBN: 978-3-030-30855-1
eISBN: 978-3-030-30856-8


Resilience is an ability of the system to deliver its services in a dependable way despite the changes. In this paper, we propose a multi-agent based formal outlook on ensuring resilience of multi-robotic systems. We represent system functions as collaborative activities performed by the agents with different capabilities. Changes invoke either structural reconfigurations – forming different collaborations or compensative activities – introducing into the system agents with additional capabilities. We formalize the resilience mechanisms and demonstrate their use by a case study – a coordination of a swarm of drones.


Event-B, formal modelling, Formal reasoning, Formal verification, Multi-robotic Systems, System resilience

Last updated on 2020-23-02 at 04:52