面向群体机器人自组织形状形成的形式化规范研究
Towards a Formal Specification for Self-organized Shape Formation in Swarm Robotics
AI总结：
针对群体机器人自组织形状形成过程缺乏形式化规范建模的问题，采用基于状态的Z语言对系统实体状态建模，验证了其有效性，为相关系统设计和多智能体仿真建模提供了基础。
摘要：
机器人自组织形成结构与形状是群体机器人系统中极具吸引力的应用方向，涉及大量具有异质行为的自主机器人、机器人间的协作以及它们与动态环境的交互。这种复杂结构形成过程被视为一个复杂系统，需要采用相应的建模方法进行建模。尽管形式化规范方法与其他形式化方法已被用于建模群体中机器人的行为，但据我们所知，形式化规范方法尚未被用于建模群体机器人系统中用于形状形成的自组织过程。本文采用形式化规范方法对群体机器人的形状形成任务进行建模，使用基于状态的形式化规范语言Z（Zed）对系统实体的状态进行建模，并验证了Z语言在自组织形状形成任务中的有效性。所提出的形式化规范模型为设计和实现可形成复杂形状与结构的群体机器人系统提供了框架，也为在仿真环境中基于多智能体系统建模群体机器人的复杂形状形成过程奠定了基础。关键词：群体机器人、自组织、形式化规范、复杂系统
英文摘要：
The self-organization of robots for the formation of structures and shapes is a stimulating application of the swarm robotic system. It involves a large number of autonomous robots of heterogeneous behavior, coordination among them, and their interaction with the dynamic environment. This process of complex structure formation is considered a complex system, which needs to be modeled by using any modeling approach. Although the formal specification approach along with other formal methods has been used to model the behavior of robots in a swarm. However, to the best of our knowledge, the formal specification approach has not been used to model the self-organization process in swarm robotic systems for shape formation. In this paper, we use a formal specification approach to model the shape formation task of swarm robots. We use Z (Zed) language of formal specification, which is a state-based language, to model the states of the entities of the systems. We demonstrate the effectiveness of Z for the self-organized shape formation. The presented formal specification model gives the outlines for designing and implementing the swarm robotic system for the formation of complex shapes and structures. It also provides the foundation for modeling the complex shape formation process for swarm robotics using a multi-agent system in a simulation-based environment. Keywords: Swarm robotics, Self-organization, Formal specification, Complex systems
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
