Related papers: Type-Based Verification of Delegated Control in Hy…
Model checking is an established technique to formally verify automation systems which are required to be trusted. However, for sufficiently complex systems model checking becomes computationally infeasible. On the other hand, testing,…
Field robot systems have recently been applied to a wide range of research fields. Making such systems more automated, advanced, and activated requires cooperation among heterogeneous robots. Classic control theory is inefficient in…
In contact-rich tasks, like dexterous manipulation, the hybrid nature of making and breaking contact creates challenges for model representation and control. For example, choosing and sequencing contact locations for in-hand manipulation,…
This paper presents experiments for embedded cooperative distributed model predictive control applied to a team of hovercraft floating on an air hockey table. The hovercraft collectively solve a centralized optimal control problem in each…
We present an approach for multi-robot consistent distributed localization and semantic mapping in an unknown environment, considering scenarios with classification ambiguity, where objects' visual appearance generally varies with…
Event-B is a well known methodology for the verified design and development of systems that can be characterised as discrete transition systems. Hybrid Event-B is a conservative extension that interleaves the discrete transitions of Event-B…
This paper derives a closed-form method for computing hybrid force-velocity control. The key idea is to maximize the kinematic conditioning of the mechanical system, which includes a robot, free objects, a rigid environment and contact…
Guaranteeing the validity of concurrent operations on distributed objects is a key property for ensuring reliability and consistency in distributed systems. Usually, the methods for validating these operations, if present, are wired in the…
This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation…
Perception-based neural network controllers are increasingly used in autonomous systems that rely on visual inputs to operate in the real world. Ensuring the safety of such systems under uncertainty is challenging. Existing verification…
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…
The increasing use of model-based tools enables further use of formal verification techniques in the context of distributed real-time systems. To avoid state explosion, it is necessary to construct verification models that focus on the…
We combine quantified differential dynamic logic (QdL) for reasoning about the possible behavior of distributed hybrid systems with temporal logic for reasoning about the temporal behavior during their operation. Our logic supports…
We present a verification methodology for analysing the decision-making component in agent-based hybrid systems. Traditionally hybrid automata have been used to both implement and verify such systems, but hybrid automata based modelling,…
Cyber-physical systems (CPS) such as autonomous cars, aircraft, and robots are often also safety-critical; thus it is imperative that they operate as intended with a high degree of certainty. Formal verification has been employed to verify…
Traditional proof systems involve a resource-bounded verifier communicating with a powerful (but untrusted) prover. Distributed verifier proof systems are a new family of proof models that involve a network of verifier nodes communicating…
Robots are soon going to be deployed in non-industrial environments. Before society can take such a step, it is necessary to endow complex robotic systems with mechanisms that make them reliable enough to operate in situations where the…
Formal verification has been successfully developed in computer science for verifying combinatorial classes of models and specifications. In like manner, formal verification methods have been developed for dynamical systems. However, the…
Distributed control agents have been advocated as an effective means for improving the resiliency of our physical infrastructures under unexpected events. Purely local control has been shown to be insufficient, centralized optimal resource…
Motivated by the development and deployment of large-scale dynamical systems, often composed of geographically distributed smaller subsystems, we address the problem of verifying their controllability in a distributed manner. In this work…