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Modeling complex emergent discrete event systems: a case study in robotic swarm motion

Complex Emergent Discrete Event Systems (CEDES) are those where sequence of local events between simple agents or agents and their environment lead to the emergence of overall behavior following certain design goals. Such systems are proved to be robust and scaleable and therefore find many applications in real world. However they require sound mathematical models that would guarantee desired emergent behavior. We in this paper consider such a system which consists of a swarm of wirelessly connected simple robots and present a novel matrix formulation to model their emergent coherent movement. This approach can be applied not only to model the dynamics of CEDES but also to quickly verify its emergent behavior and is readily executable. The simulation in MATLAB gives interesting insight into emergent behavior of the CEDES over time, which other wise require expensive experimentation.