Abstract
In a multi-robot system, a number of autonomous robots sense, communicate, and decide to move within a given domain to achieve a common goal. To prove such a system satisfies certain properties, one must either provide an analytical proof, or use an automated verification method. To enable the second approach, we propose a method to automatically generate a discrete state space of a given robot system. This allows using existing model checking tools and algorithms. We construct the state space of a number of robots, each arbitrarily moving along a certain path within a bounded polygonal area. This state space is then used to verify visibility properties (e.g., if the communication graph of the robots is connected) by means of model-checking tools. Using our method, there is no need to analytically prove that the properties are preserved with every change in the motion strategy of the robots. We have provided a theoretical upper bound on the complexity of the state space, and also implemented a tool to automatically generate the state space and verify some properties to demonstrate the applicability of our method in various environments.
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Sheshkalani, A.N., Khosravi, R., Mohammadi, M. (2017). Verification of Visibility-Based Properties on Multiple Moving Robots. In: Gao, Y., Fallah, S., Jin, Y., Lekakou, C. (eds) Towards Autonomous Robotic Systems. TAROS 2017. Lecture Notes in Computer Science(), vol 10454. Springer, Cham. https://doi.org/10.1007/978-3-319-64107-2_5
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