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 a manual 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 tools and algorithms for model checking a system against temporal logic properties. We construct the state space such that properties regarding the visibility of the robots moving along the boundaries of a simple polygon can be model checked. Using our method, there is no need to manually prove that the properties are preserved with every change in the motion algorithms of the robots.
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© 2015 Springer International Publishing Switzerland
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Sheshkalani, A.N., Khosravi, R., Fallah, M.K. (2015). Discretizing the State Space of Multiple Moving Robots to Verify Visibility Properties. In: Dixon, C., Tuyls, K. (eds) Towards Autonomous Robotic Systems. TAROS 2015. Lecture Notes in Computer Science(), vol 9287. Springer, Cham. https://doi.org/10.1007/978-3-319-22416-9_22
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DOI: https://doi.org/10.1007/978-3-319-22416-9_22
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