Continuous vs. Discrete Asynchronous Moves: A Certified Approach for Mobile Robots

Balabonski, Thibaut; Courtieu, Pierre; Pelle, Robin; Rieg, Lionel; Tixeuil, Sébastien; Urbain, Xavier

doi:10.1007/978-3-030-31277-0_7

Cited by 11 publications

(8 citation statements)

References 46 publications

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“…Moves are considered instantaneous, which is consistent with the fact that robots are seen on vertices in the snapshots. Note nevertheless that this model has been shown equivalent to the model with continuous moves (but still considering that robots are always seen on vertices), and this equivalence is certified using the Coq proof assistant [1].…”

Section: Modelmentioning

confidence: 94%

Oblivious Robots on Graphs: Exploration

Ilcinkas

2019

Distributed Computing by Mobile Entities

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Section: Modelmentioning

confidence: 94%

Oblivious Robots on Graphs: Exploration

Ilcinkas

2019

Distributed Computing by Mobile Entities

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“…To model the ASYNC scheduler, we chose one robot uniformly at random and perform its next operation 4 . In the case of the ASYNC scheduler, we must also consider what happens if a robot performs a LOOK operation while another robot is moving.…”

Section: Schedulingmentioning

confidence: 99%

Unreliable Sensors for Reliable Efficient Robots

Heriban,

Tixeuil

2021

Preprint

Self Cite

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The vast majority of existing Distributed Computing literature about mobile robotic swarms considers computability issues: characterizing the set of system hypotheses that enables problem solvability. By contrast, the focus of this work is to investigate complexity issues: obtaining quantitative results about a given problem that admits solutions. Our quantitative measurements rely on a newly developed simulation framework to benchmark pen and paper designs.First, we consider the maximum traveled distance when gathering robots at a given location, not known beforehand (both in the two robots and in the n robots settings) in the classical OBLOT model, for the FSYNC, SSYNC, and ASYNC schedulers. This particular metric appears relevant as it correlates closely to what would be real world fuel consumption. Then, we introduce the possibility of errors in the vision of robots, and assess the behavior of known rendezvous (aka two robots gathering) and leader election protocols when sensors are unreliable. We also introduce two new algorithms, one for fuel efficient convergence, and one for leader election, that operate reliably despite unreliable sensors.

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“…Designed for mobile entities, and making the most of COQ's assets, PACTOLE allows for working on a given protocol to establish and certify its correctness [4,12], as well as for quantifying over all protocol so as to prove impossibility results [2,5,11], with an unspecified number of robots, possibly including a proportion of Byzantine faults, in continuous or discrete spaces. FSYNC/SSYNC and ASYNC modes are all supported, and the framework is expressive enough to state and certify formally results as theoretical as comparisons between demons or models [3].…”

Section: Related Workmentioning

confidence: 99%

“…Thus, we can choose the space to be the 2D Euclidean plane. 3 In this space, there is a point called the base from which robots are launched. The second defining object is the companion which moves on the plane and follows the rescue team, regardless of other robots; it has to be connected to the base, one way or another.…”

Section: Spacementioning

confidence: 99%

Computer Aided Formal Design of Swarm Robotics Algorithms

Balabonski¹,

Courtieu²,

Pelle³

et al. 2021

Preprint

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Previous works on formally studying mobile robotic swarms consider necessary and sufficient system hypotheses enabling to solve theoretical benchmark problems (geometric pattern formation, gathering, scattering, etc.).We argue that formal methods can also help in the early stage of mobile robotic swarms protocol design, to obtain protocols that are correct-by-design, even for problems arising from real-world use cases, not previously studied theoretically.Our position is supported by a concrete case study. Starting from a real-world case scenario, we jointly design the formal problem specification, a family of protocols that are able to solve the problem, and their corresponding proof of correctness, all expressed with the same formal framework. The concrete framework we use for our development is the PACTOLE library based on the COQ proof assistant.

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Continuous vs. Discrete Asynchronous Moves: A Certified Approach for Mobile Robots

Cited by 11 publications

References 46 publications

Oblivious Robots on Graphs: Exploration

Oblivious Robots on Graphs: Exploration

Unreliable Sensors for Reliable Efficient Robots

Computer Aided Formal Design of Swarm Robotics Algorithms

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