Model checking
Automatic Compilation of Concurrent Hybrid Factories from Product Assembly Specifications
HSCC '00 Proceedings of the Third International Workshop on Hybrid Systems: Computation and Control
Probabilistic symbolic model checking with PRISM: a hybrid approach
International Journal on Software Tools for Technology Transfer (STTT) - Special section on tools and algorithms for the construction and analysis of systems
Automated Design of Adaptive Controllers for Modular Robots using Reinforcement Learning
International Journal of Robotics Research
Distributed Algorithms for Cooperative Control
IEEE Pervasive Computing
Multi-robot deployment and coordination with Embedded Graph Grammars
Autonomous Robots
Optimized stochastic policies for task allocationin swarms of robots
IEEE Transactions on Robotics
Supervised self-organization of homogeneous swarms using ergodic projections of Markov chains
IEEE Transactions on Systems, Man, and Cybernetics, Part B: Cybernetics
Temporal Logic Planning and Control of Robotic Swarms by Hierarchical Abstractions
IEEE Transactions on Robotics
Temporal-Logic-Based Reactive Mission and Motion Planning
IEEE Transactions on Robotics
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Large collections of simple, interacting robots can be difficult to program due to issues of concurrency and intermittent, probabilistic failures. Here, we present Guarded Command Programming with Rates, a formal framework for programming such multi-robot systems. Within this framework, we model robot behavior as a stochastic process and express concurrency and program composition using simple operations. In particular, we show how composition and other operations on programs can be used to specify increasingly complex behaviors of multi-robot systems and how stochasticity can be used to create programs that can tolerate failure of individual robots. Finally, we demonstrate our approach by encoding algorithms for routing parts in an abstract model of the Stochastic Factory Floor testbed (Galloway et al. 2010).