1. Bergenti, F., Poggi, A.: Exploiting uml in the design of multi-agent systems. In: Omicini, A., Tolksdorf, R., Zambonelli, F. (eds.) Engineering Societies in the Agents World: First International Workshop, pp. 106–113. Springer, Berlin, Germany (2000)

   Google Scholar 

2. Bjerknes, J.D., Winfield, A.F.T.: On fault tolerance and scalability of swarm robotic systems. In: Martinoli, A., Mondada, F., Correll, N., Mermoud, G., Egerstedt, M., Hsieh, A.M., Parker, E.L., Støy, K. (eds.) Distributed Autonomous Robotic Systems: The 10th International Symposium, pp. 431–444. Springer, Berlin, Germany (2013)

   Google Scholar 

3. Brambilla, M., Pinciroli, C., Birattari, M., Dorigo, M.: Property-driven design for swarm robotics. In: Proceedings of 2012 International Conference on Autonomous Agents and Multiagent Systems, pp. 139–146. IFAAMS, Richland, SC, USA (2012)

   Google Scholar 

4. Brambilla, M., Ferrante, E., Birattari, M., Dorigo, M.: Swarm robotics: a review from the swarm engineering perspective. Swarm Intell.7(1), 1–41 (2013)

   Article  Google Scholar 

5. Chen, J., Gauci, M., Li, W., Kolling, A., Groß, R.: Occlusion-based cooperative transport with a swarm of miniature mobile robots. IEEE Trans. Robot.31(2), 307–321 (2015)

   Article  Google Scholar 

6. Dhouib, S., Kchir, S., Stinckwich, S., Ziadi, T., Ziane, M.: RobotML, a domain-specific language to design, simulate and deploy robotic applications. In: Noda, I., Ando, N., Brugali, D., Kuffner, J.J. (eds.) Simulation, Modeling, and Programming for Autonomous Robots, pp. 149–160. Springer, Berlin, Germany (2012)

   Chapter  Google Scholar 

7. Dixon, C., Winfield, A.F.T., Fisher, M., Zeng, C.: Towards temporal verification of swarm robotic systems. Robot. Auton. Syst.60(11), 1429–1441 (2012)

   Article  Google Scholar 

8. Feiler, P.H., Gluch, D.P.: Model-Based Engineering with AADL: An Introdution to the SAE Architecture Analysis and Design Language. Addison-Wesley, Boston (2012)

   Google Scholar 

9. Francesca, G., Brambilla, M., Brutschy, A., Garattoni, L., Miletitch, R., Podevijn, G., Reina, A., Soleymani, T., Salvaro, M., Pinciroli, C., Mascia, F., Trianni, V., Birattari, M.: AutoMoDe-Chocolate: a method for the automatic design of robot swarms that outperforms humans. Swarm Intell.9(2–3), 125–152 (2015)

   Article  Google Scholar 

10. Gauci, M., Chen, J., Li, W., Dodd, T.J., Groß, R.: Clustering objects with robots that do not compute. In: Proceedings of 2014 International Conference on Autonomous Agents and Multiagent Systems, pp. 421–428. IFAAMS, Richland, SC, USA (2014)

    Google Scholar 

11. Gauci, M., Chen, J., Li, W., Dodd, T.J., Groß, R.: Self-organized aggregation without computation. Int. J. Robot. Res.33(8), 1145–1161 (2014)

    Article  Google Scholar 

12. Konur, S., Dixon, C., Fisher, M.: Analysing robot swarm behaviour via probabilistic model checking. Robot. Auton. Syst.60(2), 199–213 (2012)

    Article  Google Scholar 

13. Li, W., Miyazawa, A., Ribeiro, P., Cavalcanti, A., Woodcock, J., Timmis, J.: Online supplementary material (2016).http://www.york.ac.uk/robot-lab/dars2016/

14. Liu, W., Winfield, A.F.T.: Modeling and optimization of adaptive foraging in swarm robotic systems. Int. J. Robot. Res.29(14), 1743–1760 (2010)

    Article  Google Scholar 

15. Lopes, Y.K., Trenkwalder, S.M., Leal, A.B., Dodd, T.J., Groß, R.: Supervisory control theory applied to swarm robotics. Swarm Intell.10(1), 65–97 (2016)

    Article  Google Scholar 

16. Magnenat, S., Waibel, M., Beyeler, A.: Enki: the fast 2D robot simulator (2011).http://home.gna.org/enki/

17. Miyazawa, A., Ribeiro, P., Li, W., Cavalcanti, A.L.C., Timmis, J., Woodcock, J.C.P.: RoboChart: a state-machine notation for modelling and verification of mobile and autonomous robots. Technical report, University of York, Department of Computer Science, York, UK (2016).www.cs.york.ac.uk/circus/publications/techreports/reports/MRLCTW16.pdf

18. Mondada, F., et al.: The e-puck, a robot designed for education in engineering. In: Proceeding of the 9th Conference on Autonomous Robot Systems and Competitions, vol. 1, pp. 59–65. IPCB: Instituto Politécnico de Castelo Branco (2009)

    Google Scholar 

19. Pinciroli, C., Trianni, V., O’Grady, R., Pini, G., Brutschy, A., Brambilla, M., Mathews, N., Ferrante, E., Di Caro, G., Ducatelle, F., Birattari, M., Gambardella, L.M., Dorigo, M.: ARGoS: a modular, parallel, multi-engine simulator for multi-robot systems. Swarm Intell.6(4), 271–295 (2012)

    Article  Google Scholar 

20. Rouff, C.A., Hinchey, M.G., Pena, J., Ruiz-Cortes, A.: Using formal methods and agent-oriented software engineering for modeling NASA swarm-based systems. In: 2007 IEEE Swarm Intelligence Symposium, pp. 348–355. IEEE, Honolulu, Hawaii (2007)

    Google Scholar 

21. Schlegel, C., Hassler, T., Lotz, A., Steck, A.: Robotic software systems: from code-driven to model-driven designs. In: Proceedings of the 14th International Conference on Advanced Robotics, pp. 1–8. IEEE, Munich, Germany (2009)

    Google Scholar 

22. Schultz, U.P., Christensen, D.J., Stoy, K.: A domain-specific language for programming self-reconfigurable robots. In: Proceedings of the 2007 Workshop on Automatic Program Generation for Embedded Systems, pp. 28–36. ACM, Salzburg, Austria (2007)

    Google Scholar 

23. Webster, M., Dixon, C., Fisher, M., Salem, M., Saunders, J., Koay, K.L., Dautenhahn, K., Saez-Pons, J.: Toward reliable autonomous robotic assistants through formal verification: a case study. IEEE Trans. Hum. Mach. Syst.46(2), 186–196 (2016)

    Article  Google Scholar 

24. Winfield, A.F.T., Sa, J., Fernandez-Gago, M.C., Dixon, C., Fisher, M.: On formal specification of emergent behaviours in swarm robotic systems. Int. J. Adv. Robot. Syst.2(4), 363–370 (2005)

    Article  Google Scholar 

Download references