This paper proposes a new methodology for coordinating multi-robot teams in the execution of cooperative tasks. It is based on a dynamic role assignment mechanism in which the robots assume and exchange roles during cooperation. We model the role assignment under a hybrid systems framework, using a hybrid automaton to represent roles, transitions and controllers. Using a multi-robot simulator, ...

Timed and weak timed simulation relations are often used to show that operations on hybrid systems result in equivalent behavior or in conservative overapproximations. Given that systems are frequently designed and verified in a modular approach, it is desirable that this relationship is compositional, which is not the case for hybrid systems in general. We identify subclasses of linear hybrid ...

Hybrid systems such as Cyber Physical Systems (CPS) are becoming more important with time. Apart from CPS there are many hybrid systems in nature. To perform a simulation based analysis of a hybrid system, a simulation framework is presented, named SAHISim. It is based on the most popular simulation interoperability standards, i.e. High Level Architecture (HLA) and Functional Mock-up Interface ...