Use of Multi-level State Diagrams for Robot Cooperation in an Indoor Environment

Czejdo, Bogdan D.; Bhattacharya, Sambit; Baszun, M.

doi:10.1007/978-3-642-22410-2_36

Cited by 2 publications

(1 citation statement)

References 10 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In order to model such behavior a state diagram model can be used. In general the multi-level model can be used [33], but in this paper for the simplicity of presentation, we assume two-level model. The upper level model is obtained by transforming the environmental graph i.e.…”

Section: Fig 4 a Multiple Robot Behavior Described By A Set State Dmentioning

confidence: 99%

Cooperation of multiple autonomous robots and analysis of their swarm behavior

Czejdo

Daszczuk

Grabski

et al. 2018

atest

Self Cite

View full text Add to dashboard Cite

In this paper, we extended previous studies of cooperating autonomous robots to include situations when environmental changes and changes in the number of robots in the swarm can affect the efficiency to execute tasks assigned to the swarm of robots. We have presented a novel approach based on partition of the robot behavior. The sub-diagrams describing sub-routs allowed us to model advanced interactions between autonomous robots using limited number of state combinations avoiding combinatorial explosion of reachability. We identified the systems for which we can ensure the correctness of robots interactions. New techniques were presented to verify and analyze combined robots' behavior. The partitioned diagrams allowed us to model advanced interactions between autonomous robots and detect irregularities such as deadlocks, lack of termination etc. The techniques were presented to verify and analyze combined robots' behavior using model checking approach. The described system, Dedan verifier, is still under development. In the near future, timed and probabilistic verification are planned.

show abstract

Section: Fig 4 a Multiple Robot Behavior Described By A Set State Dmentioning

confidence: 99%