@Article{Ma+13,
   joint-pub = {true},
   status = {private},
   number = {2-3},
   task = {T7.1,T1.1},
   doi = {10.1007/s11721-013-0079-6},
   year = {2013},
   invited = {no},
   timestamp = {2013.11.07},
   volume = {7},
   main = {no},
   accessible = {true},
   issn = {1935-3812},
   title = {{On the use of Bio-PEPA for modelling and analysing collective behaviours in swarm robotics}},
   author = {Mieke Massink and Manuele Brambilla and Diego Latella and Marco Dorigo and Mauro Birattari},
   period = {year3},
   journal = {Swarm Intelligence},
   abstract = {In this paper we analyse a swarm robotics system using Bio-PEPA. Bio-PEPA is a process algebra language originally developed to analyse biochemical systems. A swarm robotics system can be analysed at two levels: the macroscopic level, to study the collective behaviour of the system, and the microscopic level, to study the robot-to-robot and robot-to- environment interactions. In general, multiple models are necessary to analyse a system at different levels. However, developing multiple models increases the effort needed to analyse a system and raises issues about the consistency of the results. Bio-PEPA, instead, allows the researcher to perform stochastic simulation, fluid flow (ODE) analysis and statistical model checking using a single description, reducing the effort necessary to perform the analysis and ensuring consistency between the results. Bio-PEPA is well suited for swarm robotics systems: by using Bio-PEPA it is possible to model distributed systems and their space- time characteristics in a natural way. We validate our approach by modelling a collective decision-making behaviour.},
   owner = {kroiss},
   ascens_ref = {true},
   partner = {ISTI,ULB},
   wp = {wp7,wp1},
   pages = {201--228}
}