Towards an integrated automatic design process for robot swarms [version 1; peer review: 3 approved]
Background: The specification of missions to be accomplished by a robot swarm has been rarely discussed in the literature: designers do not follow any standardized processes or use any tool to precisely define a mission that must be accomplished. Methods: In this paper, we introduce a fully integrat...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
F1000 Research Ltd
2021-09-01
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| Series: | Open Research Europe |
| Subjects: | |
| Online Access: | https://open-research-europe.ec.europa.eu/articles/1-112/v1 |
| _version_ | 1818503751714996224 |
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| author | Mauro Birattari Darko Bozhinoski |
| author_facet | Mauro Birattari Darko Bozhinoski |
| author_sort | Mauro Birattari |
| collection | DOAJ |
| description | Background: The specification of missions to be accomplished by a robot swarm has been rarely discussed in the literature: designers do not follow any standardized processes or use any tool to precisely define a mission that must be accomplished. Methods: In this paper, we introduce a fully integrated design process that starts with the specification of a mission to be accomplished and terminates with the deployment of the robots in the target environment. We introduce Swarm Mission Language (SML), a textual language that allows swarm designers to specify missions. Using model-driven engineering techniques, we define a process that automatically transforms a mission specified in SML into a configuration setup for an optimization-based design method. Upon completion, the output of the optimization-based design method is an instance of control software that is eventually deployed on real robots. Results: We demonstrate the fully integrated process we propose on three different missions. Conclusions: We aim to show that in order to create reliable, maintainable and verifiable robot swarms, swarm designers need to follow standardised automatic design processes that will facilitate the design of control software in all stages of the development. |
| first_indexed | 2024-12-10T21:28:08Z |
| format | Article |
| id | doaj.art-2bfd464aab7e4eb798003c2a2dd006a2 |
| institution | Directory Open Access Journal |
| issn | 2732-5121 |
| language | English |
| last_indexed | 2024-12-10T21:28:08Z |
| publishDate | 2021-09-01 |
| publisher | F1000 Research Ltd |
| record_format | Article |
| series | Open Research Europe |
| spelling | doaj.art-2bfd464aab7e4eb798003c2a2dd006a22022-12-22T01:32:55ZengF1000 Research LtdOpen Research Europe2732-51212021-09-01115113Towards an integrated automatic design process for robot swarms [version 1; peer review: 3 approved]Mauro Birattari0https://orcid.org/0000-0003-3309-2194Darko Bozhinoski1https://orcid.org/0000-0002-6853-0310IRIDIA, Université Libre de Bruxelles, Brussels, BelgiumIRIDIA, Université Libre de Bruxelles, Brussels, BelgiumBackground: The specification of missions to be accomplished by a robot swarm has been rarely discussed in the literature: designers do not follow any standardized processes or use any tool to precisely define a mission that must be accomplished. Methods: In this paper, we introduce a fully integrated design process that starts with the specification of a mission to be accomplished and terminates with the deployment of the robots in the target environment. We introduce Swarm Mission Language (SML), a textual language that allows swarm designers to specify missions. Using model-driven engineering techniques, we define a process that automatically transforms a mission specified in SML into a configuration setup for an optimization-based design method. Upon completion, the output of the optimization-based design method is an instance of control software that is eventually deployed on real robots. Results: We demonstrate the fully integrated process we propose on three different missions. Conclusions: We aim to show that in order to create reliable, maintainable and verifiable robot swarms, swarm designers need to follow standardised automatic design processes that will facilitate the design of control software in all stages of the development.https://open-research-europe.ec.europa.eu/articles/1-112/v1swarm robotics integrated automatic design process optimization-based design method model-driven engineering domain-specific languages (DSL) eng |
| spellingShingle | Mauro Birattari Darko Bozhinoski Towards an integrated automatic design process for robot swarms [version 1; peer review: 3 approved] Open Research Europe swarm robotics integrated automatic design process optimization-based design method model-driven engineering domain-specific languages (DSL) eng |
| title | Towards an integrated automatic design process for robot swarms [version 1; peer review: 3 approved] |
| title_full | Towards an integrated automatic design process for robot swarms [version 1; peer review: 3 approved] |
| title_fullStr | Towards an integrated automatic design process for robot swarms [version 1; peer review: 3 approved] |
| title_full_unstemmed | Towards an integrated automatic design process for robot swarms [version 1; peer review: 3 approved] |
| title_short | Towards an integrated automatic design process for robot swarms [version 1; peer review: 3 approved] |
| title_sort | towards an integrated automatic design process for robot swarms version 1 peer review 3 approved |
| topic | swarm robotics integrated automatic design process optimization-based design method model-driven engineering domain-specific languages (DSL) eng |
| url | https://open-research-europe.ec.europa.eu/articles/1-112/v1 |
| work_keys_str_mv | AT maurobirattari towardsanintegratedautomaticdesignprocessforrobotswarmsversion1peerreview3approved AT darkobozhinoski towardsanintegratedautomaticdesignprocessforrobotswarmsversion1peerreview3approved |