In my doctoral dissertation, I tackled two of the main open problems in swarm robotics: design and verification. I did so by using model checking.<p>Designing and developing individual-level behaviors to obtain a desired swarm-level goal is, in general, very difficult, as it is difficult to predict and thus design the non-linear interactions of tens or hundreds individual robots that result in the desired collective behavior. In my dissertation, I presented my novel contribution to the top-down design of robot swarms: property-driven design. Property-driven design is based on prescriptive modeling and model checking. Using property-driven design it is possible to design robot swarms in a systematic way, realizing systems that are "correct by design". I demonstrated property-driven design on two case-studies: aggregation and foraging.<p>Developing techniques to analyze and verify a robot swarm is also a necessary step in order to employ swarm robotics in real-world applications. In my dissertation, I explored the use of model checking to analyze and verify the properties of robot swarms. Model checking allows us to formally describe a set of desired properties of a system, in a more powerful and precise way compared to other mathematical approaches, and verify whether a given model of a system satisfies them. I explored two different approaches: the first based on Bio-PEPA and the second based on KLAIM. / Doctorat en Sciences de l'ingénieur / info:eu-repo/semantics/nonPublished
| Identifer | oai:union.ndltd.org:ulb.ac.be/oai:dipot.ulb.ac.be:2013/209277 |
| Date | 28 April 2014 |
| Creators | Brambilla, Manuele |
| Contributors | Dorigo, Marco, Birattari, Mauro, Bersini, Hugues, Hamann, Heiko H., Garone, Emanuele, O'Grady, Rehan, Wirsing, Martin |
| Publisher | Universite Libre de Bruxelles, Université libre de Bruxelles, Ecole polytechnique de Bruxelles – Informatique, Bruxelles |
| Source Sets | Université libre de Bruxelles |
| Language | English |
| Detected Language | English |
| Type | info:eu-repo/semantics/doctoralThesis, info:ulb-repo/semantics/doctoralThesis, info:ulb-repo/semantics/openurl/vlink-dissertation |
| Format | No full-text files |
Page generated in 0.008 seconds