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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-03177420
Contributor : Jenny Mafayoux Connect in order to contact the contributor
Submitted on : Tuesday, March 23, 2021 - 10:37:17 AM
Last modification on : Wednesday, September 22, 2021 - 4:17:46 PM
Long-term archiving on: : Thursday, June 24, 2021 - 6:22:28 PM

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  • HAL Id : hal-03177420, version 1

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K. Aloui, M. Hammadi, T Soriano, A. Guizani, M. Haddar. On the continuity of the swarm robot design using MBSE method and simulation. 13ème CONFERENCE INTERNATIONALE DE MODELISATION, OPTIMISATION ET SIMULATION (MOSIM2020), 12-14 Nov 2020, AGADIR, Maroc, Nov 2020, AGADIR, Morocco. ⟨hal-03177420⟩

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