Related papers: Computer Aided Formal Design of Swarm Robotics Alg…
Formally verifying properties of software code has been a highly desirable task, especially with the emergence of LLM-generated code. In the same vein, they provide an interesting avenue for the exploration of formal verification and…
Building a distributed spatial awareness within a swarm of locally sensing and communicating robots enables new swarm algorithms. We use local observations by robots of each other and Gaussian Belief Propagation message passing combined…
Unraveling the nature of the communication model that governs which two individuals in a swarm interact with each other is an important line of inquiry in the collective behavior sciences. A number of models have been proposed in the…
Formal specifications have numerous benefits for both designers and users of network protocols. They provide clear, unambiguous representations, which are useful as documentation and for testing. They can help reveal disagreements about…
Mobile and general-purpose robots increasingly support our everyday life, requiring dependable robotics control software. Creating such software mainly amounts to implementing their complex behaviors known as missions. Recognizing the need,…
We present a modular framework for solving a motion planning problem among a group of robots. The proposed framework utilizes a finite set of low level motion primitives to generate motions in a gridded workspace. The constraints on…
When individual robots have limited sensing capabilities or insufficient fault tolerance, it becomes necessary for multiple robots to form teams during exploration, thereby increasing the collective observation range and reliability.…
Failure detection protocols---a fundamental building block for crafting fault-tolerant distributed systems---are in many cases described by their authors making use of informal pseudo-codes of their conception. Often these pseudo-codes use…
Assuring the correct behavior of cyber-physical systems requires significant modeling effort, particularly during early stages of the engineering and design process when a system is not yet available for testing or verification of proper…
Despite many works on collaborative networked organizations (CNOs), CSCW, groupware, workflow systems and social networks, computer support for virtual teams is still insufficient, especially support for agility, i.e. the capability of…
Interactive proof assistants are computer programs carefully constructed to check a human-designed proof of a mathematical claim with high confidence in the implementation. However, this only validates truth of a formal claim, which may…
Robotic swarms are decentralized multi-robot systems whose members use local information from proximal neighbors to execute simple reactive control laws that result in emergent collective behaviors. In contrast, members of a general…
We review state-of-the-art formal methods applied to the emerging field of the verification of machine learning systems. Formal methods can provide rigorous correctness guarantees on hardware and software systems. Thanks to the availability…
Cooperative robots can significantly assist people in their productive activities, improving the quality of their works. Collision detection is vital to ensure the safe and stable operation of cooperative robots in productive activities. As…
Earth System Models (ESMs) are critical for understanding past climates and projecting future scenarios. However, the complexity of these models, which include large code bases, a wide community of developers, and diverse computational…
The evaluation of robot capabilities to navigate human crowds is essential to conceive new robots intended to operate in public spaces. This paper initiates the development of a benchmark tool to evaluate such capabilities; our long term…
Formal methods provide systematic and rigorous techniques for software development. We strongly believe that they must be taught in computer science curricula. In this paper we present the pedagogic rationale and the concrete implementation…
Computationally tractable methods are developed for centralized goal assignment and planning of collision-free polynomial-in-time trajectories for systems of multiple aerial robots. The method first assigns robots to goals to minimize total…
Different from most of the formation strategies where robots require unique labels to identify topological neighbors to satisfy the predefined shape constraints, we here study the problem of identity-less distributed shape formation in…
This paper discusses the concept of model-driven software engineering applied to the Grid application domain. As an extension to this concept, the approach described here, attempts to combine both formal architecture-centric and…