This enabled us to gauge the effect of the time step size (and of the resulting discretization and rounding errors) on the observed emergent behaviour. Since the time-evolution of our scenario was rather fast, it was sufficient for each simulation to cover just 90 seconds of simulated time.
In one of our scenarios, this model exhibited a puzzling emergent behaviour: simulations with the same input parameter setting bifurcated along two different trajectories.
Ideally, when decomposing a swarm world into smaller parts, the same emergent behaviour has to be exhibited at a smaller scale down to some smallest collaborating part (e.g.
In this paper we study explicit state model checking as a potential method for emergent behaviour analysis of swarms.
Engineers should be provided with a guide including models, tools and methods to design systems having an emergent behaviour or presenting emergent results.
However there are also disadvantages which are essentially related with harnessing emergent behaviour. Firstly, it is currently not possible to effectively control the behaviour of such systems.
It is the tool of choice to understand motivations and emergent behaviours
, and to derive insights at a more aggregate level.