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On the continuity of the swarm robot design using MBSE method and simulation

Abstract : Swarm robotics is an approach to collective robotics inspired by the self-organized behaviour of social animals. This approach aims to design robust, scalable and flexible collective behaviours for the coordination of a large number of robots using simple rules and local interactions. However, this design approach faces challenges, which are not present in other multi-robot systems: The strong decentralization, the continuity of methods, finding the simple behaviours, the local communication and action, the high number of individuals and the traceability are characteristics, which make a multi-robot system "too complex to be managed effectively". In this paper, we present a design approach based on the Property Driven Design method for the design of swarm robots. The specification and modeling phases are performed using SysML language. We used the SysML statemachines to describe the robot behaviours. The behaviour models of the robots described with SysML are then implemented in a multi-agent tool for the simulation phase. We applied our approach to a case study of a simple robot aggregation application. Simulation results show that our approach is able to manage easily a large number of robots while ensuring the design continuity process in terms of design traceability.
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https://hal.archives-ouvertes.fr/hal-03018286
Contributor : Khalil ALOUI Connect in order to contact the contributor
Submitted on : Sunday, November 22, 2020 - 11:48:12 AM
Last modification on : Wednesday, July 21, 2021 - 2:16:02 PM
Long-term archiving on: : Tuesday, February 23, 2021 - 9:39:16 PM

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  • HAL Id : hal-03018286, version 1

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Khalil Aloui, Moncef Hammadi, T Soriano, A. Guizani, M. Haddar. On the continuity of the swarm robot design using MBSE method and simulation. 13th International Conference on Modelling, Optimization and Simulation (MOSIM'20),, Nov 2020, Agadir, Morocco. ⟨hal-03018286⟩

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