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Communication Papers of the 17th Conference on Computer Science and Intelligence Systems

Annals of Computer Science and Information Systems, Volume 32

A comprehensive framework for designing behavior of UAV swarms

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DOI: http://dx.doi.org/10.15439/2022F234

Citation: Communication Papers of the 17th Conference on Computer Science and Intelligence Systems, M. Ganzha, L. Maciaszek, M. Paprzycki, D. Ślęzak (eds). ACSIS, Vol. 32, pages 173–180 ()

Full text

Abstract. This paper aims to present a method of designing the behavior of robotic swarms, emphasizing swarms of unmanned aerial vehicles using bigraphs. The method's primary goal is to define a set of actions to be performed in subsequent moments by the members of a swarm that lead to the completion of the given task. In addition to formal definitions, an example use case is also included to demonstrate how utilizing our method allows overcoming typical difficulties related to swarm robotics engineering. The example covers verifying non-functional requirements and scaling a task both horizontally and vertically.

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