Cooperation of Multiple Autonomous Robots and Analysis of their Swarm Behavior

Bogdan Czejdo , Wiktor B. Daszczuk , Waldemar Grabski , Sambit Bhattacharya

Abstract

In this paper, we extended previous studies of cooperating autonomous robots to include situations when environmental changes and changes in the number of robots in the swarm can affect the efficiency to execute tasks assigned to the swarm of robots. We have presented a novel approach based on partition of the robot behavior. The sub-diagrams describing sub-routs allowed us to model advanced interactions between autonomous robots using limited number of state combinations avoiding combinatorial explosion of reachability. We identified the systems for which we can ensure the correctness of robots interactions. New techniques were presented to verify and analyze combined robots' behavior. The partitioned diagrams allowed us to model advanced interactions between autonomous robots and detect irregularities such as deadlocks, lack of termination etc. The techniques were presented to verify and analyze combined robots' behavior using model checking approach. The described system, Dedan verifier, is still under development. In the near future, timed and probabilistic verification are planned.
Author Bogdan Czejdo
Bogdan Czejdo,,
-
, Wiktor B. Daszczuk (FEIT / IN)
Wiktor B. Daszczuk,,
- The Institute of Computer Science
, Waldemar Grabski (FEIT / IN)
Waldemar Grabski,,
- The Institute of Computer Science
, Sambit Bhattacharya
Sambit Bhattacharya,,
-
Journal seriesAutobusy. Technika, Eksploatacja, Systemy Transportowe, ISSN 1509-5878, (B 7 pkt)
Issue year2018
Vol12
No226
Pages872-879
Publication size in sheets0.5
DOIDOI:10.24136/atest.2018.516
URL https://arxiv.org/abs/1901.00758
projectDevelopment of new algorithms in the areas of software and computer architecture, artificial intelligence and information systems and computer graphics . Project leader: Arabas Jarosław, , Phone: +48 22 234 7432, start date 01-08-2018, planned end date 30-09-2019, II/2018/DS/1, Implemented
WEiTI Działalność statutowa
Languageen angielski
File
Coop.pdf 449.21 KB
Score (nominal)7
ScoreMinisterial score = 7.0, ArticleFromJournal
Ministerial score (2013-2016) = 7.0, ArticleFromJournal
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