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Modelling Autonomous Resilient Multi-robotic Systems
KTH, School of Electrical Engineering and Computer Science (EECS), Computer Science, Theoretical Computer Science, TCS.
2019 (English)In: 11th International Workshop on Software Engineering for Resilient Systems, SERENE 2019, Springer Verlag , 2019, p. 29-45Conference paper, Published paper (Refereed)
Abstract [en]

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.

Place, publisher, year, edition, pages
Springer Verlag , 2019. p. 29-45
Keywords [en]
Robotics, Software engineering, Collaborative activities, ITS Services, Multi agent, Multi-robotic systems, Resilience mechanism, Structural reconfigurations, System agents, System functions, Multi agent systems
National Category
Computer Sciences
Identifiers
URN: urn:nbn:se:kth:diva-268510DOI: 10.1007/978-3-030-30856-8_3Scopus ID: 2-s2.0-85072860645ISBN: 9783030308551 (print)OAI: oai:DiVA.org:kth-268510DiVA, id: diva2:1417820
Conference
Software Engineering for Resilient Systems - 11th International Workshop, SERENE 2019, Naples, Italy, September 17, 2019
Note

QC 20200330

Available from: 2020-03-30 Created: 2020-03-30 Last updated: 2020-03-30Bibliographically approved

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Troubitsyna, Elena

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