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

Spring Berman, Ádám Halász, Vijay Kumar, Stephen Pratt

Research output: Chapter in Book/Report/Conference proceedingConference contribution

16 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 languageEnglish (US)
Title of host publicationSwarm Robotics - 2nd International Workshop, SAB 2006
PublisherSpringer Verlag
Pages56-70
Number of pages15
ISBN (Print)9783540715405
DOIs
StatePublished - 2007
Event2nd International Workshop on Swarm Robotics, SAB 2006 - Rome, Italy
Duration: Sep 30 2006Oct 1 2006

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume4433 LNCS
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Other

Other2nd International Workshop on Swarm Robotics, SAB 2006
CountryItaly
CityRome
Period9/30/0610/1/06

Keywords

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

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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    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