@conference{sct-events2020,

title = {Supervisory Control of Robot Swarms Using Public Events},

author = {Yuri Kaszubowski Lopes and Stefan M. Trenkwalder and André B Leal and Tony J Dodd and Roderich Groß},

url = {https://ieeexplore.ieee.org/abstract/document/9197418

https://eprints.whiterose.ac.uk/159797/},

doi = {10.1109/ICRA40945.2020.9197418},

isbn = {978-1-7281-7395-5},

year  = {2020},

date = {2020-05-31},

urldate = {2020-05-31},

booktitle = {2020 IEEE International Conference on Robotics and Automation (ICRA)},

pages = {7193-7199},

publisher = {IEEE},

abstract = {Supervisory Control Theory (SCT) provides a formal framework for controlling discrete event systems. It has recently been used to generate correct-by-construction controllers for swarm robotics systems. Current SCT frameworks are limited, as they support only (private) events that are observable within the same robot. In this paper, we propose an extended SCT framework that incorporates (public) events that are shared among robots. The extended framework allows to model formally the interactions among the robots. It is evaluated using a case study, where a group of mobile robots need to synchronise their movements in space and time-a requirement that is specified at the formal level. We validate our approach through experiments with groups of e-puck robots.},

keywords = {},

pubstate = {published},

tppubtype = {conference}

}

@conference{synch-swarms2018,

title = {Emergence and inhibition of synchronization in robot swarms},

author = {Fernando Perez-Diaz and Stefan M. Trenkwalder and Rüdiger Zillmer and Roderich Groß},

url = {https://link.springer.com/chapter/10.1007/978-3-319-73008-0_33},

doi = {https://doi.org/10.1007/978-3-319-73008-0_33},

isbn = {978-3-319-73008-0},

year  = {2018},

date = {2018-03-14},

urldate = {2018-03-14},

booktitle = {Distributed Autonomous Robotic Systems: The 13th International Symposium},

volume = {6},

pages = {475-486},

publisher = {Springer},

abstract = {Synchronization can be a key requirement to perform coordinated actions or reach consensus in multi-robot systems. We study the effect of robot speed on the time required to achieve synchronization using pulse-coupled oscillators. Each robot has an internal oscillator, and the completion of oscillation cycles is signalled by means of short visual pulses. These can, in turn, be detected by other robots within their cone of vision. In this way, oscillators influence each other to attain temporal synchrony. We observe in simulation and in physical robotic experiments that synchronization can be fostered or inhibited by tuning the robot speed, leading to distinct dynamical regimes. In addition, we analyse the effect of the involved parameters on the time it takes for the system to synchronize.},

keywords = {},

pubstate = {published},

tppubtype = {conference}

}

@conference{pSCT2017,

title = {Probabilistic Supervisory Control Theory (pSCT) Applied to Swarm Robotics},

author = {Yuri Kaszubowski Lopes and Stefan M. Trenkwalder and André B Leal and Tony J Dodd and Roderich Groß},

url = {http://eprints.staffs.ac.uk/id/eprint/6238},

year  = {2017},

date = {2017-05-08},

urldate = {2017-05-08},

booktitle = {AAMAS '17: Proceedings of the 16th Conference on Autonomous Agents and MultiAgent Systems},

pages = {1395-1403},

publisher = {IFAAMAS},

abstract = {Swarm robotics studies large groups of robots that work together to accomplish common tasks. Much of the used source code is developed in an ad-hoc manner, meaning that the correctness of the controller is not always verifiable. In previous work, supervisory control theory (SCT) and associated design tools have been used to address this problem. Given a formal description of the swarm?s agents capabilities and their desired behaviour, the control source code can be automatically generated. However, regular SCT cannot model probabilistic controllers (supervisors). In this paper, we propose a probabilistic supervisory control theory (pSCT) framework. It applies prior work on probabilistic generators in a way that allows controllers to be decomposed into multiple local modular supervisors. Local modular supervisors take advantage of the modularity of formal specifications to reduce the size required to store the control logic. To validate the pSCT framework, we model a distributed swarm robotic version of the graph colouring problem and automatically generate the control source code for the Kilobot swarm robotics platform. We report the results of systematic experiments with swarms of 25 and 100 physical robots.},

keywords = {},

pubstate = {published},

tppubtype = {conference}

}

@conference{openswarm2016,

title = {OpenSwarm: An event-driven embedded operating system for miniature robots},

author = {Stefan M. Trenkwalder and Yuri Kaszubowski Lopes and Andreas Kolling and Anders Lyhne Christensen and Radu Prodan and Roderich Groß},

url = {https://ieeexplore.ieee.org/abstract/document/7759660

https://eprints.whiterose.ac.uk/110437},

doi = {10.1109/IROS.2016.7759660},

issn = {2153-0866},

year  = {2016},

date = {2016-10-12},

urldate = {2016-10-12},

booktitle = {2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},

pages = {4483-4490},

publisher = {IEEE},

abstract = {This paper presents OpenSwarm, a lightweight easy-to-use open-source operating system. To our knowledge, it is the first operating system designed for and deployed on miniature robots. OpenSwarm operates directly on a robot's microcontroller. It has a memory footprint of 1 kB RAM and 12 kB ROM. OpenSwarm enables a robot to execute multiple processes simultaneously. It provides a hybrid kernel that natively supports preemptive and cooperative scheduling, making it suitable for both computationally intensive and swiftly responsive robotics tasks. OpenSwarm provides hardware abstractions to rapidly develop and test platform-independent code. We show how OpenSwarm can be used to solve a canonical problem in swarm robotics—clustering a collection of dispersed objects. We report experiments, conducted with five e-puck mobile robots, which show that an OpenSwarm implementation performs as good as a hardware-near implementation. The primary goal of OpenSwarm is to make robots with severely constrained hardware more accessible, which may help such systems to be deployed in real-world applications.},

keywords = {},

pubstate = {published},

tppubtype = {conference}

}