CIRA'09 Proceedings of the 8th IEEE international conference on Computational intelligence in robotics and automation
A compositional framework for programming stochastically interacting robots
International Journal of Robotics Research
Towards temporal verification of emergent behaviours in swarm robotic systems
TAROS'11 Proceedings of the 12th Annual conference on Towards autonomous robotic systems
Analysing robot swarm behaviour via probabilistic model checking
Robotics and Autonomous Systems
Graph process specifications for hybrid networked systems
Discrete Event Dynamic Systems
Towards temporal verification of swarm robotic systems
Robotics and Autonomous Systems
Planning for provably reliable navigation using an unreliable, nearly sensorless robot
International Journal of Robotics Research
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We develop a hierarchical framework for planning and control of arbitrarily large groups (swarms) of fully actuated robots with polyhedral velocity bounds moving in polygonal environments with polygonal obstacles. At the first level of hierarchy, we aggregate the high-dimensional control system of the swarm into a small-dimensional control system capturing its essential features. These features describe the position of the swarm in the world and its size. At the second level, we reduce the problem of controlling the essential features of the swarm to a model-checking problem. In the obtained hierarchical framework, high-level specifications given in natural language, such as linear temporal logic formulas over linear predicates in the essential features, are automatically mapped to provably correct robot control laws. For the particular case of an abstraction based on centroid and variance, we show that swarm cohesion, interrobot collision avoidance, and environment containment can also be specified and automatically guaranteed in our framework. The obtained communication architecture is centralized