Self-assembly Strategies
- an ascens case study -
Andrea Vandin
10th-16th June 2012 Edinburgh
ascensautonomic service component ensembles
10th-16th June 2012 Edinburgh
1. ASCENS and its case studies
2. Robotics self-assembly strategies
3. Proposals for possible projects
Self-assembly Strategies
ascensautonomic service component ensembles
“...open-ended, highly parallel, massively distributed systems...
...made of self-aware, self-adaptive, self-expressive, self-*, autonomic components.”
- ascens-ist.eu
ensembles
“...build ensembles in a way that combines
software engineering, formal methods and autonomic, adaptive, self-aware systems.”
- ascens-ist.eu
the goal of ascens
Robot Swarms
E-vehicles
Swarm robotics & s-botsscenario
z
limited battery life
limited tolerance to radiations
Swarm robotics & s-botsscenario
Swarm robotics & s-botsscenario
Simple informationlocal perceptionunknown environment
Simple individual behaviour
Simple communication means
Complex global behaviour
Swarm robotics & s-botsmain characteristics
Swarm robotics & s-botschallenges
What is a good strategy forexploration?building?assembly/transportation?
What do those strategies need in terms of...knowledge/awareness?adaptation mechanisms?
How can we analyse those strategies?
10th-16th June 2012 Edinburgh
1. ASCENS and its case studies
2. Robotics self-assembly strategies
3. Proposals for possible projects
Self-assembly Strategies
Self-assembly strategies
Auton. Robots 28(4): 439-455 2010
Video: 3 s-bots crossing a holehttp://sysma.lab.imtlucca.it/tools/ensembles/
Courtesy of Rehan O'Grady (IRIDIA@ULB)
Basic self-assembly strategy
IP
AP AGG
SA AS
W CP
Move towards light
Move away from light
Grab an admissible LED
Move in any direction
Move in any directionidle
Move towards light
Basic behaviours
IP AP
Transitions
?
? ?
? ?
?
?
IP AP?
? ?
? ?
?
?
IP AP
IP
AP
see hole orsee green orsee red
10th-16th June 2012 Edinburgh
1. ASCENS and its case studies
2. Robotics self-assembly strategies− Analysis
3. Proposals for possible projects
Self-assembly Strategies
Discrete event simulations
Video: simulating 3 s-bots crossing a holehttp://sysma.lab.imtlucca.it/tools/ensembles/
CP
CP
Bizarre behaviours
CP
Prob(become seed) andclose to green anddon't see red
IP
AP AGG
SA AS
W CP
see hole orsee green orsee red
Assembled
See red
Timeout
See hole
Don't see green
Timeo
ut
Bizarre behaviours
Close t
o red
Prob(become seed) andclose to green anddon't see red anddon't see hole
IP
AP AGG
SA AS
W CP
see hole orsee green orsee red
Assembled
See red ortimeout andnot gripped
Timeout
See hole andnot see red
Don't see green
Timeo
ut an
d
gripped
Bizarre behaviours
Close t
o red
Execute enough simulations of probabilistic systems, statistically estimating properties, given a confidence interval”
✔ No state-space explosion
✔ Quantitative properties
✗ No absolute confidence on results as model checking
✗ Statistical errors
CALCO 2011: 386-392
Statistical Model Checking
Quantitative analysis“What is the expected percentage of robots reaching the goal?”
vs
~ 33%
~ 50%
WHY?
Quantitative analysis“What is the expected percentage of robots reaching the goal?”
Quantitative analysis“What is the expected percentage of robots reaching the goal?”
Quantitative analysis“What is the expected percentage of robots reaching the goal?”
10th-16th June 2012 Edinburgh
1. ASCENS and its case studies
2. Robotics self-assembly strategies
3. Proposals for possible projects
Self-assembly Strategies
Proposals for possible projects
Literature review
High level (visual/graphical) strategies definition
Strategies implementation and analysis
Literature review
High level (visual/graphical) strategies definition
Strategies implementation and analysis
Proposals for possible projectsClaytronics@CMU,Intel
CKBots@ModLab
Morphogenesis@Iridia
@MIT
Literature review
High level (visual/graphical) strategies definition
Strategies implementation and analysis
“impose” particular morphologies … line? find&solve “bizzarre” behaviours? …
“impose” particular morphologies … line? find&solve “bizzarre” behaviours? …
Proposals for possible projects
We will discuss this tomorrow!
Thanks!
[email protected]/andrea.vandin
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