Self-assembly Strategies

transcript

- an ascens case study -

Andrea Vandin

10th-16th June 2012 Edinburgh

ascensautonomic service component ensembles

1. ASCENS and its case studies

2. Robotics self-assembly strategies

3. Proposals for possible projects

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

limited battery life

limited tolerance to radiations

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?

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

AP AGG

Move towards light

Move away from light

Grab an admissible LED

Move in any direction

Move in any directionidle

Move towards light

Basic behaviours

Transitions

IP AP?

see hole orsee green orsee red

2. Robotics self-assembly strategies− Analysis

Discrete event simulations

Video: simulating 3 s-bots crossing a holehttp://sysma.lab.imtlucca.it/tools/ensembles/

Bizarre behaviours

Prob(become seed) andclose to green anddon't see red

AP AGG

Assembled

See red

Timeout

See hole

Don't see green

Bizarre behaviours

Close t

Prob(become seed) andclose to green anddon't see red anddon't see hole

AP AGG

Assembled

See red ortimeout andnot gripped

Timeout

See hole andnot see red

Don't see green

gripped

Bizarre behaviours

Close t

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?”

Proposals for possible projects

Literature review

High level (visual/graphical) strategies definition

Strategies implementation and analysis

Literature review

Proposals for possible projectsClaytronics@CMU,Intel

CKBots@ModLab

Morphogenesis@Iridia

Literature review

“impose” particular morphologies … line? find&solve “bizzarre” behaviours? …

Proposals for possible projects

We will discuss this tomorrow!

Thanks!

andrea.vandin@imtlucca.itimtlucca.it/andrea.vandin

Self-assembly Strategies

Technology