ASCENS-Related Concepts Sample Clauses

ASCENS-Related Concepts. ‌ In the robotics case study, each individual robot is considered as a Service Component (SC). Each SC is associated to a program that controls its actions, here referred to as behavior. Groups of connected robots (physically or networked) form Service Component Ensembles. For the coordination of robot groups, we identify four general patterns. These patterns can be expressed following the approach described in [Puv12] for the mapping between SCs and autonomic managers. In this context, the robots are proactive service components, and the concept of robot behavior coin- cides with that of internal autonomic manager. The patterns can be classified into two general categories: patterns that include an element of centralization, and fully distributed patterns. In patterns that include an element of centralization, such element is typically meant as dedicated SCs that collect information from the robot SCE, make decisions, and instruct the robots accordingly (see Fig. 3(a)). In the approach of [Puv12], this SC is an external autonomic manager. In fully distributed patterns, the main coordination means is inter-robot W Dt environment width environment depth time [m] [m] [s] R er(t) dr(t) number of robots energy level of robot r damage level of robot r ∈ N t '→ [0, 1] ⊂ R t '→ [1, 10] ⊂ R V Gv hv(t; Gv) Mv S number of victims injury gravity for victim v health of victim v at time t mass of victim v number of safe victims at the end ∈ N ∈ [0, 1] ⊂ R t '→ [0, 1] ⊂ R [kg] ∈ [0, V ] ⊂ N Table 1: Parameters and symbols of the robotics scenario. Robot Behavior