| Summary: | The increasing discoveries in the autonomous system had caught researchers attentions. They aimed to find the suitable way to automate the formation of system components in reacting towards the dynamic environments. Among the challenges in designing adaptive systems are to verifying a system’s formation with the consideration of challenges such as uncertainty or scalability. Verified formation indicates the correctness of the formation in handling the changes in the environments. The outcome of the process is the verification of the formation in satisfying the specification of the system. This paper surveys the state-of-the-art formation verification in addressing the formation of collective adaptive systems (CAS) components that applying ensemble concepts. The paper also includes verification techniques used in verifying CAS formation and the tools used for formation verification. © 2022, The Author(s), under exclusive license to Springer Nature Singapore Pte Ltd.
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