Algorithms for the analysis and synthesis of a bio-inspired swarm robotic system

Spring Berman; Ádám Halász; Vijay Kumar; Stephen Pratt

doi:10.1007/978-3-540-71541-2_5

Algorithms for the analysis and synthesis of a bio-inspired swarm robotic system

Spring Berman, Ádám Halász, Vijay Kumar, Stephen Pratt

Life Sciences, School of (SOLS)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

19 Scopus citations

Abstract

We present a methodology for characterizing, analyzing, and synthesizing swarm behaviors using both a macroscopic continuous model that represents a swarm as a continuum and a macroscopic discrete model that enumerates individual agents. Our methodology is applied to a dynamical model of ant house hunting, a decentralized process in which a colony attempts to emigrate to the best site among several alternatives. The model is hybrid because the colony switches between different sets of behaviors, or modes, during this process. Using the model in [1], we investigate the relation of site population growth to initial system state with an algorithm called Multi-Affine Reachability analysis using Conical Overapproximations (MARCO) [2]. We then derive a microscopic hybrid dynamical model of an agent that respects the specifications of the global behavior at the continuous level. Our multi-level simulations demonstrate that we have produced a rigorously correct microscopic model from the macroscopic descriptions.

Original language	English (US)
Title of host publication	Swarm Robotics - 2nd International Workshop, SAB 2006
Publisher	Springer Verlag
Pages	56-70
Number of pages	15
ISBN (Print)	9783540715405
DOIs	https://doi.org/10.1007/978-3-540-71541-2_5
State	Published - 2007
Event	2nd International Workshop on Swarm Robotics, SAB 2006 - Rome, Italy Duration: Sep 30 2006 → Oct 1 2006

Publication series

Name	Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume	4433 LNCS
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Other

Other	2nd International Workshop on Swarm Robotics, SAB 2006
Country/Territory	Italy
City	Rome
Period	9/30/06 → 10/1/06

Keywords

Abstractions of swarms
Insect house hunting
Multiscale modeling
Reachability analysis
Stochastic simulation
Synthesis

ASJC Scopus subject areas

Theoretical Computer Science
General Computer Science

Access to Document

10.1007/978-3-540-71541-2_5

Cite this

Berman, S., Halász, Á., Kumar, V., & Pratt, S. (2007). Algorithms for the analysis and synthesis of a bio-inspired swarm robotic system. In Swarm Robotics - 2nd International Workshop, SAB 2006 (pp. 56-70). (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4433 LNCS). Springer Verlag. https://doi.org/10.1007/978-3-540-71541-2_5

Algorithms for the analysis and synthesis of a bio-inspired swarm robotic system. / Berman, Spring; Halász, Ádám; Kumar, Vijay et al.
Swarm Robotics - 2nd International Workshop, SAB 2006. Springer Verlag, 2007. p. 56-70 (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics); Vol. 4433 LNCS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Berman, S, Halász, Á, Kumar, V & Pratt, S 2007, Algorithms for the analysis and synthesis of a bio-inspired swarm robotic system. in Swarm Robotics - 2nd International Workshop, SAB 2006. Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), vol. 4433 LNCS, Springer Verlag, pp. 56-70, 2nd International Workshop on Swarm Robotics, SAB 2006, Rome, Italy, 9/30/06. https://doi.org/10.1007/978-3-540-71541-2_5

Berman S, Halász Á, Kumar V, Pratt S. Algorithms for the analysis and synthesis of a bio-inspired swarm robotic system. In Swarm Robotics - 2nd International Workshop, SAB 2006. Springer Verlag. 2007. p. 56-70. (Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)). doi: 10.1007/978-3-540-71541-2_5

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AB - We present a methodology for characterizing, analyzing, and synthesizing swarm behaviors using both a macroscopic continuous model that represents a swarm as a continuum and a macroscopic discrete model that enumerates individual agents. Our methodology is applied to a dynamical model of ant house hunting, a decentralized process in which a colony attempts to emigrate to the best site among several alternatives. The model is hybrid because the colony switches between different sets of behaviors, or modes, during this process. Using the model in [1], we investigate the relation of site population growth to initial system state with an algorithm called Multi-Affine Reachability analysis using Conical Overapproximations (MARCO) [2]. We then derive a microscopic hybrid dynamical model of an agent that respects the specifications of the global behavior at the continuous level. Our multi-level simulations demonstrate that we have produced a rigorously correct microscopic model from the macroscopic descriptions.

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Algorithms for the analysis and synthesis of a bio-inspired swarm robotic system

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Keywords

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