Comparing perfomance abstractions for collective adaptive systems

Non-functional properties of collective adaptive systems (CAS) are of paramount relevance practically in any application. This paper compares two recently proposed approaches to quantitative modelling that exploit different system abstractions: the first is based on generalised stochastic Petri nets, and the second is based on queueing networks. Through a case study involving autonomous robots, we analyse and discuss the relative merits of the approaches. This is done by considering three scenarios which differ on the architecture used to coordinate the distributed components. Our experimental results assess a high accuracy when comparing model-based performance analysis results derived from two different quantitative abstractions for CAS.