کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
413134 679752 2012 13 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Towards temporal verification of swarm robotic systems
موضوعات مرتبط
مهندسی و علوم پایه مهندسی کامپیوتر هوش مصنوعی
پیش نمایش صفحه اول مقاله
Towards temporal verification of swarm robotic systems
چکیده انگلیسی

A robot swarm is a collection of simple robots designed to work together to carry out some task. Such swarms rely on the simplicity of the individual robots; the fault tolerance inherent in having a large population of identical robots; and the self-organised behaviour of the swarm as a whole. Although robot swarms present an attractive solution to demanding real-world applications, designing individual control algorithms that can guarantee the required global behaviour is a difficult problem. In this paper we assess and apply the use of formal verification techniques for analysing the emergent behaviours of robotic swarms. These techniques, based on the automated analysis of systems using temporal logics, allow us to analyse whether all possible behaviours within the robot swarm conform to some required specification. In particular, we apply model-checking, an automated and exhaustive algorithmic technique, to check whether temporal properties are satisfied on all the possible behaviours of the system. We target a particular swarm control algorithm that has been tested in real robotic swarms, and show how automated temporal analysis can help to refine and analyse such an algorithm.


► Towards temporal verification of swarm robotic systems.
► Formal verification applied to a robot swarm algorithm.
► Analysis of a robot swarm algorithm using temporal logic model checking.
► Exploration and analysis of abstractions for robots swarms to apply formal verification.

ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Robotics and Autonomous Systems - Volume 60, Issue 11, November 2012, Pages 1429–1441
نویسندگان
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