Towards a Formal Verification Methodology for Collective Robotic Systems

  • Edmond Gjondrekaj
  • Michele Loreti
  • Rosario Pugliese
  • Francesco Tiezzi
  • Carlo Pinciroli
  • Manuele Brambilla
  • Mauro Birattari
  • Marco Dorigo
Part of the Lecture Notes in Computer Science book series (LNCS, volume 7635)


We present a novel formal verification approach for collective robotic systems that is based on the use of the formal language Klaim and related analysis tools. While existing approaches focus on either micro- or macroscopic views of a system, we model aspects of both the robot hardware and behaviour, as well as relevant aspects of the environment. We illustrate our approach through a robotics scenario, in which three robots cooperate in a decentralized fashion to transport an object to a goal area. We first model the scenario in Klaim. Subsequently, we introduce random aspects to the model by stochastically specifying actions execution time. Unlike other approaches, the specification thus obtained enables quantitative analysis of crucial properties of the system. We validate our approach by comparing the results with those obtained through physics-based simulations.


Model Check Obstacle Avoidance Sensor Reading Real Robot Goal Area 
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-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Edmond Gjondrekaj
    • 1
  • Michele Loreti
    • 1
  • Rosario Pugliese
    • 1
  • Francesco Tiezzi
    • 2
  • Carlo Pinciroli
    • 3
  • Manuele Brambilla
    • 3
  • Mauro Birattari
    • 3
  • Marco Dorigo
    • 3
  1. 1.Dipartimento di Sistemi e InformaticaUniversità degli Studi di FirenzeItaly
  2. 2.IMTInstitute for Advanced Studies LuccaItaly
  3. 3.IRIDIA, CoDEUniversité Libre de BruxellesBelgium

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