Related papers: Modelling and Model-Checking a ROS2 Multi-Robot Sy…
Discrete-time stochastic systems with continuous spaces are hard to verify and control, even with MDP abstractions due to the curse of dimensionality. We propose an abstraction-based framework with robust dynamic programming mappings that…
Hybrid Rebeca is a modeling framework for asynchronous event-based cyber-physical systems (CPSs). In this work, we extend Hybrid Rebeca to allow the modeling of non-deterministic time behavior. Besides the syntactical extension, we…
In this paper, we provide a framework integrating distributed multi-robot systems and temporal epistemic logic. We show that continuous-discrete hybrid systems are compatible with logical models of knowledge already used in distributed…
Model Predictive Control (MPC) is widely used to achieve performance objectives, while enforcing operational and safety constraints. Despite its high performance, MPC often demands significant computational resources, making it challenging…
A generic architecture for a class of distributed robotic systems is presented. The architecture supports openness and heterogeneity, i.e. heterogeneous components may be joined and removed from the systems without affecting its basic…
Testing is a significant aspect of software development. As systems become complex and their use becomes critical to the security and the function of society, the need for testing methodologies that ensure reliability and detect faults as…
Autonomous robots are increasingly deployed for long-term information-gathering tasks, which pose two key challenges: planning informative trajectories in environments that evolve across space and time, and ensuring persistent operation…
ROS (Robot Operating System) has become ubiquitous for testing new algorithms, alternative hardware configurations, and prototyping. By performing research with its modular framework, it can streamline sharing new work and integrations.…
Complex systems typically have many different parts and facets, with different characteristics. In a multi-paradigm approach to modeling, formalisms with different natures are used in combination to describe complementary parts and aspects…
Agent-based models (ABMs) are gaining increasing traction in several domains, due to their ability to represent complex systems that are not easily expressible with classical mathematical models. This expressivity and richness come at a…
In this paper we demonstrate an approach to model structure and behavior of distributed systems, to map those models to a lightweight execution engine by using a functional programming language and to systematically define and execute tests…
Coordinated operations of multi-robot systems (MRS) require agents to maintain communication connections to accomplish team objectives. However, maintaining the connections imposes costs in terms of restricted robot mobility, resulting in…
We consider the problem of dynamically allocating tasks to multiple agents under time window constraints and task completion uncertainty. Our objective is to minimize the number of unsuccessful tasks at the end of the operation horizon. We…
The paper details the first successful attempt at using model-checking techniques to verify the correctness of distributed algorithms for robots evolving in a \emph{continuous} environment. The study focuses on the problem of rendezvous of…
In this paper, we study model-checking of linear-time properties in multi-valued systems. Safety property, invariant property, liveness property, persistence and dual-persistence properties in multi-valued logic systems are introduced. Some…
As Multi-Robot Systems (MRS) become more affordable and computing capabilities grow, they provide significant advantages for complex applications such as environmental monitoring, underwater inspections, or space exploration. However,…
This paper is a survey of extensions to finite automata theory to model real-time systems as well as systems exhibiting mixed discrete-continuous behavior. Real-time systems maintain a continuous and timely interaction with the environment,…
As multi-robot systems continue to advance and become integral to various applications, managing conflicts and ensuring secure access control are critical challenges that need to be addressed. Access control is essential in multi-robot…
Rapid robotic system development sets a demand for multi-disciplinary methods and tools to explore and compare design alternatives. In this paper, we present collaborative modeling that combines discrete-event models of controller software…
This paper presents the first model-checking algorithm for an expressive modal mu-calculus over timed automata, $L^{\mathit{rel}, \mathit{af}}_{\nu,\mu}$, and reports performance results for an implementation. This mu-calculus contains…