Managing safety and mission completion via collective run-time adaptation

Darko Bozhinoski*, David Garlan, Ivano Malavolta, Patrizio Pelliccione

*Corresponding author for this work

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Mobile Multi-Robot Systems (MMRSs) are an emerging class of systems that are composed of a team of robots, various devices (like movable cameras, sensors) which collaborate with each other to accomplish defined missions. Moreover, these systems must operate in dynamic and potentially uncontrollable and unknown environments that might compromise the safety of the system and the completion of the defined mission. A model of the environment describing, e.g., obstacles, no-fly zones, wind and weather conditions might be available, however, the assumption that such a model is both correct and complete is often wrong. In this paper, we describe an approach that supports execution of missions at run time. It addresses collective adaptation problems in a decentralized fashion, and enables the addition of new entities in the system at any time. Moreover, it is based on two adaptation resolution methods: one for (potentially partial) resolution of mission-related issues and one for full resolution of safety-related issues.

Original languageEnglish
Pages (from-to)19-35
Number of pages17
JournalJournal of Systems Architecture
Early online date22 Feb 2019
Publication statusPublished - May 2019


Research partly supported from the EU H2020 Research and Innovation Programme under GA No. 731869 (Co4Robots) and from the European Research Council (ERC) under GA No. 681872 (DEMIURGE). Darko Bozhinoski is a Postdoctoral researcher at IRIDIA, Universite Libre de Bruxelles (Brussels, Belgium). He is a part of the DEMIURGE project: project funded by the European Research Concill that focuses on automatic design of robot swarms. His research topics are mainly in software engineering, formal methods, swarm robotics and self-adaptive systems. He received a Ph.D. in Computer Science from Gran Sasso Science Institute in 2017. In his Ph.D. thesis, he is proposing a formal modeling framework that enables Mobile Multi-Robot systems (MMRSs) to perform collective adaptation in a decentralized-fashion at run-time, guaranteeing preservation of safety constraints. In 2016 he was awarded the Fulbright Scholarship that enabled him to spend the academic year 2016–2017 at Carnegie Mellon University as a visiting research scholar. More information is available at: . David Garlan is a Professor of Computer Science in the School of Computer Science at Carnegie Mellon University. He received his Ph.D. from Carnegie Mellon in 1987 and worked as a software architect in industry between 1987 and 1990. His interests include software architecture, self-adaptive systems, formal methods, and cyber-physical systems. He is considered to be one of the founders of the field of software architecture, and, in particular, formal representation and analysis of architectural designs. He is a co-author of two books on software architecture: “Software Architecture: Perspectives on an Emerging Discipline”, and “Documenting Software Architecture: Views and Beyond.” In 2005 he received a Stevens Award Citation for “fundamental contributions to the development and understanding of software architecture as a discipline in software engineering.” In 2011 he received the Outstanding Research award from ACM SIGSOFT for “significant and lasting software engineering research contributions through the development and promotion of software architecture.” He is a Fellow of the IEEE and ACM. More information is available at: . Ivano Malavolta is Assistant Professor at the Vrije Universiteit Amsterdam, The Netherlands, Department of Computer Science, Faculty of Sciences. His research focuses on data-driven software engineering, software architecture, model-driven engineering (MDE), and mobile-enabled systems. Recently, he is applying empirical methods to assess practices and trends in the field of software engineering. He authored more than 70 papers in international journals and peer-reviewed international conferences proceedings; they include articles published in the IEEE Transactions on Software Engineering (TSE) and the Interna-tional Conference on Software Engineering (ICSE), which are considered the leading journal and conference in the field of software engineering, respectively. He received a PhD in computer science from the University of L’Aquila in 2012. He is a member of ACM and IEEE. More information is available at . Patrizio Pelliccione is Associate Professor at the Chalmers University of Technology and University of Gothenburg, Sweden, Department of Computer Science and Engineering. He got his Ph.D. in 2005 at the University of L’Aquila (Italy) and from February 1, 2014 he is Docent in Software Engineering, title given by the University of Gothenburg. His research topics are mainly in software engineering, software architectures modelling and verification, autonomous systems, and formal methods. He has co-authored more than 100 publications in journals and international conferences and workshops in these topics. He has been on the program committees for several top conferences, and is a reviewer for top journals in the software engineering domain. He is very active in European and National projects. In his research activity he has collaborated with several industries such as Volvo Cars, Volvo AB, Ericsson, Jeppesen, Axis communication, Thales Italia, Selex Marconi telecommunications, Siemens, Saab, TERMA, etc. More information is available at .

FundersFunder number
EU H2020 Research and Innovation Programme
Horizon 2020 Framework Programme681872, 731869
European Research Council


    • Collective run-time adaptation
    • Ensembles
    • Mission completion
    • Safety


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