![]() For more detail, please consult this paper ‘ Modelling a CPS Swarm System: a Simple Case Study‘. EmergencyExit: this is a model of a swarm of robots that needs to find an exit in an unmapped environment. The example problem is further used to show the integration of Modelio, a UML/SysML modeling tool, and FREVO, an optimization tool in the CPSwarm workbench.The current model includes a number of modeling elements for sensors, actuators, and communication that serve as input/output to a behavior. Spiderino: this project is a model of the Spiderino, a robot platform for swarm research. ![]() Modelio is used for all modelling and requirements management within the CPSwarm project. Modelio is an open-source modeling environment which can be extended through modules to add functionalities and services. The goal is that all members exit the environment. When a member reaches an emergency exit, it is removed from the environment. In each discrete time step, a member senses the neighboring cells and moves to a free cell. Multiple swarm members move in a simple 2D discrete environment and try to find one out of the two emergency exits.
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