Related papers: Modelling and Model-Checking a ROS2 Multi-Robot Sy…
In this paper we review the actor-based language, Timed Rebeca, with a focus on its formal semantics and formal verification techniques. Timed Rebeca can be used to model systems consisting of encapsulated components which communicate by…
In this paper we propose an extension of the Rebeca language that can be used to model distributed and asynchronous systems with timing constraints. We provide the formal semantics of the language using Structural Operational Semantics, and…
We present a new application of model checking which achieves real-time multi-step planning and obstacle avoidance on a real autonomous robot. We have developed a small, purpose-built model checking algorithm which generates plans in situ…
In this paper, we show how model checking can be used to create multi-step plans for a differential drive wheeled robot so that it can avoid immediate danger. Using a small, purpose built model checking algorithm in situ we generate plans…
The Robot Operating System (ROS) is one of the most popular middleware for developing robot applications, but it is subject to major shortcomings when applied to real-time robotic systems in safety-critical environments. For this reason,…
Multi-Agent Systems (MAS) are notoriously complex and hard to verify. In fact, it is not trivial to model a MAS, and even when a model is built, it is not always possible to verify, in a formal way, that it is actually behaving as we…
Timed automata (TA) have been widely adopted as a suitable formalism to model time-critical systems. Furthermore, contemporary model-checking tools allow the designer to check whether a TA complies with a system specification. However, the…
We present $multipanda\_ros2$, a novel open-source ROS2 architecture for multi-robot control of Franka Robotics robots. Leveraging ros2 control, this framework provides native ROS2 interfaces for controlling any number of robots from a…
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…
In cyber-physical systems like automotive systems, there are components like sensors, actuators, and controllers that communicate asynchronously with each other. The computational model of actor supports modeling distributed asynchronously…
Purpose of Review: To effectively synthesise and analyse multi-robot behaviour, we require formal task-level models which accurately capture multi-robot execution. In this paper, we review modelling formalisms for multi-robot systems under…
A Multi Robot System (MRS) is the infrastructure of an intelligent cyberphysical system, where the robots understand the need of the human, and hence cooperate together to fulfill this need. Modeling an MRS is a crucial aspect of designing…
We consider multi-robot systems under recurring tasks formalized as linear temporal logic (LTL) specifications. To solve the planning problem efficiently, we propose a bottom-up approach combining offline plan synthesis with online…
Incorrect operations of a Multi-Robot System (MRS) may not only lead to unsatisfactory results, but can also cause economic losses and threats to safety. These threats may not always be apparent, since they may arise as unforeseen…
Letting robots emulate human behavior has always posed a challenge, particularly in scenarios involving multiple robots. In this paper, we presented a framework aimed at achieving multi-agent reinforcement learning for robot control in…
It is important to have multi-agent robotic system specifications that ensure correctness properties of safety and liveness. As these systems have concurrency, and often have dynamic environment, the formal specification and verification of…
Safety and reliability play a crucial role when designing Robotic Autonomous Systems (RAS). Early consideration of hazards, risks and mitigation actions -- already in the concept study phase -- are important steps in building a solid…
We propose a verified approach to the formal verification of timed properties using model-checking techniques. We focus on properties expressed using real-time specification patterns, which can be viewed as a subset of timed temporal logics…
Model-based planning and execution systems offer a principled approach to building flexible autonomous robots that can perform diverse tasks by automatically combining a host of basic skills. This idea is almost as old as modern robotics.…
A key problem in verification of multi-agent systems by model checking concerns the fact that the state-space of the system grows exponentially with the number of agents present. This makes practical model checking unfeasible whenever the…