Verification of Asynchronous Mobile-Robots in Partially-Known Environments

  • Benjamin Aminof
  • Aniello Murano
  • Sasha Rubin
  • Florian ZulegerEmail author
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9387)


This paper establishes a framework based on logic and automata theory in which to model and automatically verify that multiple mobile robots, with sensing abilities, moving asynchronously, correctly perform their tasks. The motivation is from practical scenarios in which the environment is not completely know to the robots, e.g., physical robots exploring a maze, or software agents exploring a hostile network. The framework shows how to express tasks in a logical language, and exhibits an algorithm solving the parameterised verification problem, where the graphs are treated as the parameter. The main assumption that yields decidability is that the robots take a bounded number of turns. We prove that dropping this assumption results in undecidability, even for robots with very limited (“local”) sensing abilities.


Mobile Robot Mobile Agent Automaton Theory Graph Exploration Counter Machine 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • Benjamin Aminof
    • 1
  • Aniello Murano
    • 2
  • Sasha Rubin
    • 2
  • Florian Zuleger
    • 1
    Email author
  1. 1.Technische Universität WienViennaAustria
  2. 2.Università Degli Studi di Napoli “Federico II”NaplesItaly

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