Self-assembly Strategies

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