On Formal Specification of Emergent Behaviours in Swarm Robotic Systems
On Formal Specification of Emergent Behaviours in Swarm Robotic Systems
复制标题
群体机器人系统中突发行为的形式化规范
DOI：
10.5772/5769
复制
发表时间：
2005
影响因子：
2.3
通讯作者：
M. Fisher
中科院分区：
文献类型：
--
作者：
A. Winfield;Jin Sa;M. Fernández;C. Dixon;M. Fisher
群体机器人的一个特点是，用单个机器人的低级行为来确定整体的突发群体行为是非常困难的。然而，如果群体机器人要从实验室过渡到现实世界的工程实现，我们需要这样的规范。本文探讨了使用时间逻辑来形式化地指定，也可能证明，机器人群体的紧急行为。本文以一个简化的无线连接群为例来说明该方法。这种正式的方法可能是向群体机器人的规范设计方法迈出的重要一步。
It is a characteristic of swarm robotics that specifying overall emergent swarm behaviours in terms of the low-level behaviours of individual robots is very difficult. Yet if swarm robotics is to make the transition from the laboratory to real-world engineering realisation we need such specifications. This paper explores the use of temporal logic to formally specify, and possibly also prove, the emergent behaviours of a robotic swarm. The paper makes use of a simplified wireless connected swarm as a case study with which to illustrate the approach. Such a formal approach could be an important step toward a disciplined design methodology for swarm robotics.