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Modeling Robot Swarms Using Integrals of Birth-Death Processes
Ist Teil von
ACM transactions on autonomous and adaptive systems, 2016-07, Vol.11 (2), p.1-16
Ort / Verlag
ACM
Erscheinungsjahr
2016
Link zum Volltext
Quelle
Alma/SFX Local Collection
Beschreibungen/Notizen
This article investigates the use of the integral of linear birth-death processes in the context of analyzing swarm robotics systems. We show that when a robot swarm can be modeled as a linear birth-death process, well-established results can be used to compute the expected value and/or the distribution of important swarm performance measures, such as the swarm activity time or the swarm energy consumption. We also show how the linear birth-death model can be used to estimate the long-term value of such performance measures and design robot controllers that satisfy constraints on these measures.