--- abstract: 'Goal-Oriented Development facilitates structuring complex requirements. To ensure resilience the designers should guarantee that the system achieves its goals despite changes, e.g., caused by failures of system components. In this paper we propose a formal goal-oriented approach to development of resilient MAS. We formalize the notion of goal and goal achievement in Event-B and propose the specification and refinement patterns that allow us to guarantee that the targeted goals are reached despite agent failures. We illustrate our approach by a case study – development of an autonomous multi-robotic system.' accompaniment: [] book_title: ~ commentary: ~ completion_time: ~ composition_type: ~ conductors_id: [] conductors_name: [] contact_email: ~ copyright_holders: [] corp_creators: [] creators_id: - Inna.Pereverzeva@abo.fi - Elena.Troubitsyna@abo.fi - Linas.Laibinis@abo.fi creators_name: - family: Pereverzeva given: Inna honourific: '' lineage: '' - family: Troubitsyna given: Elena honourific: '' lineage: '' - family: Laibinis given: Linas honourific: '' lineage: '' data_type: ~ date: 2012 date_type: published datestamp: 2012-06-29 07:54:52 department: ~ dir: disk0/00/00/04/08 divisions: [] edit_lock_since: ~ edit_lock_until: 0 edit_lock_user: ~ editors_id: [] editors_name: [] eprint_status: archive eprintid: 408 event_dates: ~ event_location: 'Stokholm, Sweden' event_title: '17th International Conference on Reliable Soft- ware Technologies (Ada-Europe 2012)' event_type: conference exhibitors_id: [] exhibitors_name: [] fileinfo: ~ full_text_status: none funders: [] id_number: ~ importid: ~ institution: ~ isbn: ~ ispublished: pub issn: ~ item_issues_comment: [] item_issues_count: ~ item_issues_description: [] item_issues_id: [] item_issues_reported_by: [] item_issues_resolved_by: [] item_issues_status: [] item_issues_timestamp: [] item_issues_type: [] keywords: ~ lastmod: 2012-06-29 07:54:52 latitude: ~ learning_level: ~ longitude: ~ lyricists_id: [] lyricists_name: [] metadata_visibility: show monograph_type: ~ note: ~ num_pieces: ~ number: ~ official_url: ~ output_media: ~ pagerange: ~ pages: ~ patent_applicant: ~ pedagogic_type: ~ place_of_pub: ~ pres_type: paper producers_id: [] producers_name: [] projects: [] publication: ~ publisher: ~ refereed: TRUE referencetext: ~ related_url_type: [] related_url_url: [] relation_type: [] relation_uri: [] rev_number: 11 series: ~ skill_areas: [] source: ~ status_changed: 2012-06-29 07:54:52 subjects: - Refinement - deploy_method - deploy_method_proof - deploy_method_resil - examples succeeds: ~ suggestions: ~ sword_depositor: ~ sword_slug: ~ task_purpose: ~ thesis_type: ~ title: Formal Goal-Oriented Development of Resilient Multi-Agent Systems in Event-B type: conference_item userid: 20 volume: ~