Abstract
Multi-robotic systems are typical examples of complex multi-agent systems. The robots – autonomic agents – cooperate with each other in order to achieve the system goals. While designing multi-robotic systems, we should ensure that these goals remain achievable despite robot failures, i.e., guarantee system fault tolerance. However, designing the fault tolerance mechanisms for multi-agent systems is a notoriously difficult task. In this paper we describe a case study in formal development of a complex fault tolerant multi-robotic system. The system design relies on cooperative error recovery and dynamic reconfiguration. We demonstrate how to specify and verify essential properties of a fault tolerant multi-robotic system in Event-B and derive a detailed formal system specification by refinement. The main objective of the presented case study is to investigate suitability of a refinement approach for specifying a complex multi-agent system with co-operative error recovery.
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Pereverzeva, I., Troubitsyna, E., Laibinis, L. (2012). A Case Study in Formal Development of a Fault Tolerant Multi-robotic System. In: Avgeriou, P. (eds) Software Engineering for Resilient Systems. SERENE 2012. Lecture Notes in Computer Science, vol 7527. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33176-3_2
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DOI: https://doi.org/10.1007/978-3-642-33176-3_2
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-33175-6
Online ISBN: 978-3-642-33176-3
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