In order to verify reconfiguration of interacting autonomous agents to be exclusively beneficial and never hazardous to cyber-physical systems, this article suggests a systematic approach based on incremental model-based testing and illustrates its application to cooperating mobile robots.
Saglietti, F., Winzinger, S., & Lill, R. (2015). Reconfiguration testing for cooperating autonomous agents. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 9338, pp. 144–155). Springer Verlag. https://doi.org/10.1007/978-3-319-24249-1_13