Modelling Autonomous Resilient Multi-robotic Systems

Inna Vistbakka, Elena Troubitsyna

Research output: Chapter in Book/Conference proceedingConference contributionScientificpeer-review

4 Citations (Scopus)


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.

Original languageUndefined/Unknown
Title of host publicationSoftware Engineering for Resilient Systems
EditorsRadu Calinescu, Felicita Di Giandomenico
ISBN (Electronic)978-3-030-30856-8
ISBN (Print)978-3-030-30855-1
Publication statusPublished - 2019
MoE publication typeA4 Article in a conference publication
EventInternational Workshop on Software Engineering for Resilient Systems - 11th International Workshop on Software Engineering for Resilient Systems, SERENE 2019
Duration: 17 Sept 201917 Sept 2019


ConferenceInternational Workshop on Software Engineering for Resilient Systems


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

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