Related papers: Autonomous Robotic Swarms: A Corroborative Approac…
Autonomous systems are highly complex and present unique challenges for the application of formal methods. Autonomous systems act without human intervention, and are often embedded in a robotic system, so that they can interact with the…
The safety of automated driving systems must be justified by convincing arguments and supported by compelling evidence to persuade certification agencies, regulatory entities, and the general public to allow the systems on public roads.…
Formal methods have provided approaches for investigating software engineering fundamentals and also have high potential to improve current practices in dependability assurance. In this article, we summarise known strengths and weaknesses…
Collective behaviours often need to be expressed through numerical features, e.g., for classification or imitation learning. This problem is often addressed by proposing an ad-hoc feature set for a particular swarm behaviour context,…
This paper focuses on coordinating a robot swarm orbiting a convex path without collisions among the individuals. The individual robots lack braking capabilities and can only adjust their courses while maintaining their constant but…
This paper studies a generally applicable, sensitive, and intuitive error metric for the assessment of robotic swarm density controller performance. Inspired by vortex blob numerical methods, it overcomes the shortcomings of a common…
Autonomous systems require the management of several model views to assure properties such as safety and security among others. A crucial issue in autonomous systems design assurance is the notion of emergent behavior; we cannot use their…
This paper describes the development of the Robotarium -- a remotely accessible, multi-robot research facility. The impetus behind the Robotarium is that multi-robot testbeds constitute an integral and essential part of the multi-agent…
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…
Human-robot collaboration (HRC) is an emerging trend of robotics that promotes the co-presence and cooperation of humans and robots in common workspaces. Physical vicinity and interaction between humans and robots, combined with the…
Representation and control of the dynamics of stigmergic substances used by bio-inspired approaches is a challenge when applied to robotics. In order to overcome this challenge, this work proposes a model to coordinate swarms of robots…
We introduce a novel simulation-based approach to identify hazards that result from unexpected worker behavior in human-robot collaboration. Simulation-based safety testing must take into account the fact that human behavior is variable and…
We apply a compositional formal modeling and verification method to an autonomous aircraft taxi system. We provide insights into the modeling approach and we identify several research areas where further development is needed. Specifically,…
Collective intelligence and autonomy of robot swarms can be improved by enabling the individual robots to become aware they are the constituent units of a larger whole and what is their role. In this study, we present an algorithm to enable…
Mobile robots, becoming increasingly autonomous, are capable of operating in diverse and unknown environments. This flexibility allows them to fulfill goals independently and adapting their actions dynamically without rigidly predefined…
Formal method techniques provides a suitable platform for the software development in software systems. Formal methods and formal verification is necessary to prove the correctness and improve performance of software systems in various…
The Robotarium, a remotely accessible swarm-robotics testbed, has provided free, open access to robotics and controls research for hundreds of users in thousands of experiments. This high level of usage requires autonomy in the system,…
Regarding the rapid growth of the size and complexity of simulation applications, designing applicable and affordable verification and validation (V&V) structures is an important problem. On the other hand, nowadays human behavior models…
Nonlinear, adaptive, or otherwise complex control techniques are increasingly relied upon to ensure the safety of systems operating in uncertain environments. However, the nonlinearity of the resulting closed-loop system complicates…
In this paper we study multi robot cooperative task allocation issue in a situation where a swarm of robots is deployed in a confined unknown environment where the number of colored spots which represent tasks and the ratios of them are…