A distributed approach for autonomous cooperative transportation in a dynamic multi-robot environment

Nath, Amar; Ar, Arun; Niyogi, Rajdeep

doi:10.1145/3341105.3373980

Cited by 11 publications

(19 citation statements)

References 20 publications

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“…In [3,8,16,17] distributed approaches for collaborative task execution are suggested based on different assumptions, depending on whether or not the team size is known in advance. Formal verification using model checking has been suggested in [9,10] when the team size is known in advance.…”

Section: State Of the Art And Related Workmentioning

confidence: 99%

“…The only way the robots can communicate is through messages. It is assumed in [3,8,16,17] that the communication infrastructure is lossless and message delay is finite.…”

Section: Team Formation Protocolmentioning

confidence: 99%

Section: Team Formation Protocolmentioning

confidence: 99%

“…The works [3,8,16,17] consider collaborative task execution in a dynamic environment where all the agents associated with the execution should be present at the location of the task. In [3,8,16,17] distributed approaches for collaborative task execution are suggested based on different assumptions. In [3,8] team size is known in advance, and each agent in a team should have a set of skills that is a superset of the set of skills required for a task.…”

Section: Team Formation Protocolmentioning

confidence: 99%

“…TLA + perfectly meets our requirements. Therefore, we chose TLA + and the TLC model checker for specifying and verifying the requirements and desirable properties of every successful execution of the team formation algorithms [8,3,16,17].…”

mentioning

confidence: 99%

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Formal specification and verification of a team formation protocol using TLA

Niyogi

Nath

2023

Preprint

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Team formation in an environment where some relevant parameters are not known in advance is a challenging problem. Communicating automata and distributed algorithms have been used to describe protocols for team formation. A high-level specification provides a mathematical description of a protocol or a program. TLA is a formal specification language designed to provide high-level specifications of concurrent and distributed systems. The associated model checker known as TLC is capable of model checking the TLA specifications. Recently formal specification of a team formation protocol is given using TLA when there is a single initiator (an agent or a robot), that initiates the team formation. Using TLA , we examine the formal specification for the multiple initiator situation and demonstrate that a composition technique can yield a single monolithic specification for the multiple initiator situation from the single initiator situation specification. We have used models of varying sizes, and the TLC model checker has confirmed that the protocol’s specifications meet certain desired characteristics in each case.

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Section: State Of the Art And Related Workmentioning

confidence: 99%

“…The only way the robots can communicate is through messages. It is assumed in [3,8,16,17] that the communication infrastructure is lossless and message delay is finite.…”

Section: Team Formation Protocolmentioning

confidence: 99%

Section: Team Formation Protocolmentioning

confidence: 99%

Section: Team Formation Protocolmentioning

confidence: 99%

mentioning

confidence: 99%

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Formal specification and verification of a team formation protocol using TLA

Niyogi

Nath

2023

Preprint

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Formal specification and verification of a team formation protocol using TLA⁺

Niyogi,

Nath

2023

Softw Pract Exp

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Team formation in an environment where some relevant parameters are not known in advance is a challenging problem. Communicating automata and distributed algorithms have been used to describe protocols for team formation. A high‐level specification provides a mathematical description of a protocol or a program. TLA is a formal specification language designed to provide high‐level specifications of concurrent and distributed systems. The associated model checker known as TLC is capable of model checking the TLA specifications. Recently, formal specification of a team formation protocol is given using TLA when there is a single initiator (an agent or a robot) that initiates the team formation. Using TLA, we examine the formal specification for the multiple initiator situation and demonstrate that a composition technique can yield a single monolithic specification for the multiple initiator situation from the single initiator situation specification. We have used models of varying sizes, and the TLC model checker has confirmed that the protocol's specifications meet certain desired characteristics in each case.

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