Modelling Autonomous Resilient Multi-robotic Systems

A4 Konferenspublikationer


Interna författare/redaktörer


Publikationens författare: Inna Vistbakka, Elena Troubitsyna
Redaktörer: Radu Calinescu, Felicita Di Giandomenico
Förlagsort: Italy
Publiceringsår: 2019
Moderpublikationens namn: Software Engineering for Resilient Systems
Seriens namn: Lecture Notes in Computer Science
Volym: 11732
Artikelns första sida, sidnummer: 29
Artikelns sista sida, sidnummer: 45
ISBN: 978-3-030-30855-1
eISBN: 978-3-030-30856-8


Abstrakt

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.


Nyckelord

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

Senast uppdaterad 2020-22-02 vid 05:25