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Computer Aided Formal Design of Swarm Robotics Algorithms

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Stabilization, Safety, and Security of Distributed Systems (SSS 2021)

Part of the book series: Lecture Notes in Computer Science ((LNTCS,volume 13046))

Abstract

Previous works on formally studying mobile robotic swarms consider necessary and sufficient system hypotheses enabling to solve theoretical benchmark problems (geometric pattern formation, gathering, scattering, etc.). We argue that formal methods can also help in the early design stage of mobile robotic swarms correct-by-design protocols, even for tasks closer to real-world use cases and not previously studied theoretically. Our position is supported by a concrete case study. Starting from a real-world case scenario, we jointly design the formal problem specification, a family of protocols that are able to solve the problem, and their corresponding proof of correctness, all expressed with the same formal framework. The concrete framework we use for our development is the Pactole library based on the Coq proof assistant.

This work was partially supported by Project SAPPORO of the French National Research Agency (ANR) under the reference 2019-CE25-0005-1.

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Notes

  1. 1.

    Yamashita received the “Prize for Innovation in Distributed Computing” for his seminal work on this model.

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Author information

Authors and Affiliations

  1. Université Paris-Saclay, CNRS, LMF, Gif-sur-Yvette, France

    Thibaut Balabonski & Robin Pelle

  2. Cédric, Conservatoire des Arts et Métiers, Paris, France

    Pierre Courtieu

  3. VERIMAG, UMR 5160, Grenoble INP, Univ. Grenoble Alpes, Grenoble, France

    Lionel Rieg

  4. Sorbonne University, CNRS, LIP6, Paris, France

    Sébastien Tixeuil

  5. Université Claude Bernard Lyon 1, LIRIS UMR5205, Lyon, France

    Xavier Urbain

Authors
  1. Thibaut Balabonski
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  2. Pierre Courtieu
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  3. Robin Pelle
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  4. Lionel Rieg
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  5. Sébastien Tixeuil
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  6. Xavier Urbain
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Corresponding author

Correspondence to Sébastien Tixeuil .

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Editors and Affiliations

  1. University of Bordeaux, Bordeaux, France

    Colette Johnen

  2. Chalmers University of Technology, Gothenburg, Sweden

    Elad Michael Schiller

  3. University of Vienna, Vienna, Austria

    Stefan Schmid

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Balabonski, T., Courtieu, P., Pelle, R., Rieg, L., Tixeuil, S., Urbain, X. (2021). Computer Aided Formal Design of Swarm Robotics Algorithms. In: Johnen, C., Schiller, E.M., Schmid, S. (eds) Stabilization, Safety, and Security of Distributed Systems. SSS 2021. Lecture Notes in Computer Science(), vol 13046. Springer, Cham. https://doi.org/10.1007/978-3-030-91081-5_31

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  • DOI: https://doi.org/10.1007/978-3-030-91081-5_31

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  • Online ISBN: 978-3-030-91081-5

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