Avoiding the state explosion problem in temporal logic model checking
PODC '87 Proceedings of the sixth annual ACM Symposium on Principles of distributed computing
Design and Control of Autonomous Underwater Robots: A Survey
Autonomous Robots
Using Situated Communication in Distributed Autonomous Mobile Robotics
SCAI '01 Proceedings of the Seventh Scandinavian Conference on Artificial Intelligence
NuSMV 2: An OpenSource Tool for Symbolic Model Checking
CAV '02 Proceedings of the 14th International Conference on Computer Aided Verification
Counterexample-guided abstraction refinement for symbolic model checking
Journal of the ACM (JACM)
Distributed, Physics-Based Control of Swarms of Vehicles
Autonomous Robots
Counterexample-guided predicate abstraction of hybrid systems
Theoretical Computer Science - Tools and algorithms for the construction and analysis of systems (TACAS 2003)
Cells and Robots: Modeling and Control of Large-Size Agent Populations
Cells and Robots: Modeling and Control of Large-Size Agent Populations
Space-Time Continuous Models of Swarm Robotic Systems: Supporting Global-to-Local Programming
Space-Time Continuous Models of Swarm Robotic Systems: Supporting Global-to-Local Programming
Formal verification of probabilistic swarm behaviours
ANTS'10 Proceedings of the 7th international conference on Swarm intelligence
From swarm intelligence to swarm robotics
SAB'04 Proceedings of the 2004 international conference on Swarm Robotics
PRISM: a tool for automatic verification of probabilistic systems
TACAS'06 Proceedings of the 12th international conference on Tools and Algorithms for the Construction and Analysis of Systems
Temporal Logic Planning and Control of Robotic Swarms by Hierarchical Abstractions
IEEE Transactions on Robotics
Analysing robot swarm behaviour via probabilistic model checking
Robotics and Autonomous Systems
Property-driven design for swarm robotics
Proceedings of the 11th International Conference on Autonomous Agents and Multiagent Systems - Volume 1
Towards temporal verification of swarm robotic systems
Robotics and Autonomous Systems
Analysing robot swarm decision-making with Bio-PEPA
ANTS'12 Proceedings of the 8th international conference on Swarm Intelligence
Towards a formal verification methodology for collective robotic systems
ICFEM'12 Proceedings of the 14th international conference on Formal Engineering Methods: formal methods and software engineering
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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 often identical robots; and the self-organised behaviour of the swarm as a whole. Although robot swarms are being deployed in increasingly sophisticated areas, designing individual control algorithms that can guarantee the required global behaviour is difficult. In this paper we apply and assess the use of formal verification techniques, in particular that of model checking, for analysing the emergent behaviours of robotic swarms. These techniques, based on the automated analysis of systems using temporal logics, allow us to analyse all possible behaviours and so identify potential problems with the robot swarm conforming to some required global behaviour. To show this approach we target a particular swarm control algorithm, and show how automated temporal analysis can help to refine and analyse such an algorithm.