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Verification of Asynchronous Mobile-Robots in Partially-Known Environments

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PRIMA 2015: Principles and Practice of Multi-Agent Systems (PRIMA 2015)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 9387))

Abstract

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.

Benjamin Aminof and Florian Zuleger were supported by the Austrian National Research Network S11403-N23 (RiSE) of the Austrian Science Fund (FWF) and by the Vienna Science and Technology Fund (WWTF) through grant ICT12-059. Aniello Murano was supported by FP7 EU project 600958-SHERPA. Sasha Rubin is a Marie Curie fellow of the Istituto Nazionale di Alta Matematica.

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Author information

Authors and Affiliations

  1. Technische Universität Wien, Vienna, Austria

    Benjamin Aminof & Florian Zuleger

  2. Università Degli Studi di Napoli “Federico II”, Naples, Italy

    Aniello Murano & Sasha Rubin

Authors
  1. Benjamin Aminof
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  2. Aniello Murano
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  3. Sasha Rubin
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  4. Florian Zuleger
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Corresponding author

Correspondence to Florian Zuleger .

Editor information

Editors and Affiliations

  1. Jinan University, Guangzhou, China

    Qingliang Chen

  2. Università di Bologna, Bologna, Italy

    Paolo Torroni

  3. Inria - Sophia Antipolis-Méditerran, Sophia Antipolis, France

    Serena Villata

  4. National Taiwan University, Taipei, Taiwan

    Jane Hsu

  5. Università di Bologna, Bologna, Italy

    Andrea Omicini

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Aminof, B., Murano, A., Rubin, S., Zuleger, F. (2015). Verification of Asynchronous Mobile-Robots in Partially-Known Environments. In: Chen, Q., Torroni, P., Villata, S., Hsu, J., Omicini, A. (eds) PRIMA 2015: Principles and Practice of Multi-Agent Systems. PRIMA 2015. Lecture Notes in Computer Science(), vol 9387. Springer, Cham. https://doi.org/10.1007/978-3-319-25524-8_12

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  • DOI: https://doi.org/10.1007/978-3-319-25524-8_12

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