Related papers: Parameterized Verification of Algorithms for Obliv…
We consider the model checking problem of infinite state systems given in the form of parameterized discrete timed networks with multiple clocks. We show that this problem is decidable with respect to specifications given by B- or…
Threshold automata are a computational model that has proven to be versatile in modeling threshold-based distributed algorithms and enabling their completely automatic parameterized verification. We present novel techniques for the…
We introduce an automata-theoretic method for the verification of distributed algorithms running on ring networks. In a distributed algorithm, an arbitrary number of processes cooperate to achieve a common goal (e.g., elect a leader).…
In this paper, we study the circle formation problem by multiple autonomous and homogeneous disc-shaped robots (also known as fat robots). The goal of the robots is to place themselves on the periphery of a circle. Circle formation has many…
We study the \textit{min-sum uniform coverage} problem for a swarm of $n$ mobile robots on a given finite line segment and on a circle having finite positive radius, where the circle is given as an input. The robots must coordinate their…
In this paper we study the Near-Gathering problem for a finite set of dimensionless, deterministic, asynchronous, anonymous, oblivious and autonomous mobile robots with limited visibility moving in the Euclidean plane in Look-Compute-Move…
The exploration problem in the discrete universe, using identical oblivious asynchronous robots without direct communication, has been well investigated. These robots have sensors that allow them to see their environment and move…
In this paper, we address the shape formation problem for massive robot swarms in environments where external localization systems are unavailable. Achieving this task effectively with solely onboard measurements is still scarcely explored…
We investigate gathering algorithms for asynchronous autonomous mobile robots moving in uniform ring-shaped networks. Different from most work using the Look-Compute-Move (LCM) model, we assume that robots have limited visibility and…
In this paper we study paramertized motion planning algorithms which provide universal and flexible solutions to diverse motion planning problems. Such algorithms are intended to function under a variety of external conditions which are…
Gathering is a fundamental coordination problem in cooperative mobile robotics. In short, given a set of robots with arbitrary initial locations and no initial agreement on a global coordinate system, gathering requires that all robots,…
A fundamental problem in Distributed Computing is the Pattern Formation problem, where some independent mobile entities, called robots, have to rearrange themselves in such a way as to form a given figure from every possible…
In this paper, we present an approach for quantifying the propagated uncertainty of robot systems in an online and data-driven manner. Especially in Human-Robot Collaboration, keeping track of the safety compliance during run time is…
Inspired by distributed applications that use consensus or other agreement protocols for global coordination, we define a new computational model for parameterized systems that is based on a general global synchronization primitive and…
The paper details the first successful attempt at using model-checking techniques to verify the correctness of distributed algorithms for robots evolving in a \emph{continuous} environment. The study focuses on the problem of rendezvous of…
We consider a distributed system of n identical mobile robots operating in the two dimensional Euclidian plane. As in the previous studies, we consider the robots to be anonymous, oblivious, dis-oriented, and without any communication…
In this paper, we extended previous studies of cooperating autonomous robots to include situations when environmental changes and changes in the number of robots in the swarm can affect the efficiency to execute tasks assigned to the swarm…
Autonomous robots deployed in shared human environments, such as agricultural settings, require rigorous safety assurance to meet both functional reliability and regulatory compliance. These systems must operate in dynamic, unstructured…
Two cooperating, autonomous mobile robots with arbitrary nonzero max speeds are placed at arbitrary initial positions in the plane. A remotely detonated bomb is discovered at some source location and must be moved to a safe distance away…
We investigate the impact of spontaneous movement in the complexity of verification problems for an automata-based protocol model of networks with selective broadcast communication. We first consider reachability of an error state and show…