Related papers: Using Model Checking to Formally Verify Rendezvous…
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…
We address the problem of decomposing a single image into reflectance and shading. The difficulty comes from the fact that the components of image---the surface albedo, the direct illumination, and the ambient illumination---are coupled…
The transition from single-core to multi-core processors has made multi-threaded software an important subject in computer aided verification. Here, we describe and evaluate an extension of the ESBMC model checker to support the…
We show a new simple algorithm that solves the model-checking problem for recursion schemes: check whether the tree generated by a given higher-order recursion scheme is accepted by a given alternating parity automaton. The algorithm…
Trajectory planning for multiple robots in shared environments is a challenging problem especially when there is limited communication available or no central entity. In this article, we present Real-time planning using Linear Spatial…
Communication constraints can significantly impact robots' ability to share information, coordinate their movements, and synchronize their actions, thus limiting coordination in Multi-Robot Exploration (MRE) applications. In this work, we…
We present a centralized algorithmic framework for solving multi-robot path planning problems in general, two-dimensional, continuous environments while minimizing globally the task completion time. The framework obtains high levels of…
We investigate the decidability of model-checking logics of time, knowledge and probability, with respect to two epistemic semantics: the clock and synchronous perfect recall semantics in partially observed discrete-time Markov chains.…
In this work, we initiate the research about the Gathering problem for robots with limited viewing range in the three-dimensional Euclidean space. In the Gathering problem, a set of initially scattered robots is required to gather at the…
This paper investigates the task assignment problem for multiple dispersed robots constrained by limited communication range. The robots are initially randomly distributed and need to visit several target locations while minimizing the…
We investigate the decidability of model-checking logics of time, knowledge and probability, with respect to two epistemic semantics: the clock and synchronous perfect recall semantics in partially observed discrete-time Markov chains.…
Robotic systems are widely used to interact with humans or to perform critical tasks. As a result, it is imperative to provide guarantees about their behavior. Due to the modularity and complexity of robotic systems, their design and…
This paper investigates two issues on identification of switched linear systems: persistence of excitation and numerical algorithms. The main contribution is a much weaker condition on the regressor to be persistently exciting that…
We propose a new algorithm for real-time detection and tracking of elliptic patterns suitable for real-world robotics applications. The method fits ellipses to each contour in the image frame and rejects ellipses that do not yield a good…
System and software design benefits greatly from formal modeling, allowing for automated analysis and verification early in the design phase. Current methods excel at checking information flow and component interactions, ensuring…
A comprehensive verification of parallel software imposes three crucial requirements on the procedure that implements it. Apart from accepting real code as program input and temporal formulae as specification input, the verification should…
Being able to explore an environment and understand the location and type of all objects therein is important for indoor robotic platforms that must interact closely with humans. However, it is difficult to evaluate progress in this area…
A swarm of anonymous oblivious mobile robots, operating in deterministic Look-Compute-Move cycles, is confined within a circular track. All robots agree on the clockwise direction (chirality), they are activated by an adversarial…
Despite increasing research efforts on household robotics, robots intended for deployment in domestic settings still struggle with more complex tasks such as interacting with functional elements like drawers or light switches, largely due…
In this paper, we propose a method for aligning models with their realization through the application of model-based systems engineering. Our approach is divided into three steps. (1) Firstly, we leverage domain expertise and the Unified…