Using model checking to formally verify rendezvous algorithms for robots with lights in Euclidean space

Défago, Xavier; Heriban, Adam; Tixeuil, Sébastien; Wada, Koichi

doi:10.1016/j.robot.2023.104378

Cited by 5 publications

(2 citation statements)

References 15 publications

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“…Example of applications with MARS such as medical robots known as the nano [8] and magnetic robot [9] have been used to send medicine directly to the human organ, inspection robots to inspect and clean pipelines in oil and gas industries [10,11], planetary rovers [12,13], unmanned aerial vehicles [14][15][16][17][18], and swarm robots [19,20]. Due to the importance of MARS in assisting human activities, several researchers have been actively reviewing and discussed a variety of issues related to cooperative MARS [2,21,22] such as formation [23][24][25][26][27], consensus [28][29][30], containment [31][32][33], tracking [34], and rendezvous [29,[35][36][37].…”

Section: Introduction 11 Motivation Of the Researchmentioning

confidence: 99%

Multi-Agent Robot Motion Planning for Rendezvous Applications in a Mixed Environment with a Broadcast Event-Triggered Consensus Controller

Sariff,

Hilmi Ismail,

Shah Hizam Md Yasir

et al. 2023

Motion Planning for Dynamic Agents

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Finding consensus is one of the most important tasks in multi-agent robot motion coordination research, especially in a communication environment. This justification underlies the use of event-triggered controller in current multi-agent consensus research. However, the communication issue has not been adequately addressed in a broadcast communication environment for rendezvous applications. Therefore, the broadcast event-triggered (BET) controller with a new formulation was designed using the Simultaneous Perturbation Stochastic Algorithm (SPSA). Theorems and relevant proofs were presented. Agent performances with the BET controller were evaluated and compared with the conventional broadcast time-triggered (BTT) controller. The results showed an effective motion generated by a multi-agent robot to reach the rendezvous point based on the Bernoulli distribution and gradient approximation of the agent local controller. The BET controller has proven to work more efficiently than the BTT controller when it reaches convergence in less than 40.42% of time and 21.00% of iterations on average. The utilization of communication channels is slightly reduced for BET, which is 71.09% usage instead of fully utilized by BTT. The threshold value of the event-triggered function (ETF) and SPSA parameters affected agent performances. Future research may consider using an effective and efficient BET controller in a complex communication environment with many variations of graph topology networks.

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Section: Introduction 11 Motivation Of the Researchmentioning

confidence: 99%

Multi-Agent Robot Motion Planning for Rendezvous Applications in a Mixed Environment with a Broadcast Event-Triggered Consensus Controller

Sariff,

Hilmi Ismail,

Shah Hizam Md Yasir

et al. 2023

Motion Planning for Dynamic Agents

View full text Add to dashboard Cite

show abstract

“…Along with the application studies in the robotics and electronics fields [1][2][3][4][5], computer science research has attempted to design theoretical models [6][7][8][9][10] which best formalize and simulate generic distributed systems, and to study efficient algorithms for some primitive tasks. Such an analytical investigation aims at providing a rigorous and universal methodology to study the collaborative strategies for mobile multi-agent systems [10][11][12][13], model peculiar realworld scenarios [14][15][16], prove and analyze the correctness of algorithmic solutions [17,18], and investigate their computational complexity [19][20][21][22][23].…”

Section: Introductionmentioning

confidence: 99%

Uniform Circle Formation for Fully, Semi-, and Asynchronous Opaque Robots with Lights

2023

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In the field of robotics, a lot of theoretical models have been settled to formalize multi-agent systems and design distributed algorithms for autonomous robots. Among the most investigated problems for such systems, the study of the Uniform Circle Formation (UCF problem earned a lot of attention for the properties of such a convenient disposition. Such a problem asks robots to move on the plane to form a regular polygon, running a deterministic and distributed algorithm by executing a sequence of look–compute–move cycles. This work aims to solve the UCF problem for a very restrictive model of robots: they are punctiform, anonymous, and indistinguishable. They are completely disoriented, i.e., they share neither the coordinate system nor chirality. Additionally, they are opaque, so collinearities can hide important data for a proper computation. To tackle these system limitations, robots are equipped with a persistent light used to communicate and store a constant amount of information. For such a robot model, this paper presents a solution for UCF for each of the three scheduling modes usually studied in the literature: fully synchronous, semi-synchronous, and asynchronous. Regarding the time complexity, the proposed algorithms use a constant number of cycles (epochs) for fully synchronous (semi-synchronous) robots, and linearly, many epochs in the worst case for asynchronous robots.

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Swarm Intelligence in Action: Particle Swarm Optimization and Rendezvous Algorithms for Swarm Robotics

Ganduri,

Pathri

2024

Journal of Field Robotics

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Swarm technology is evolving quickly in the new era in the domains of autonomous underwater vehicles (AUVs), unmanned aerial vehicles (UAVs), and unmanned ground vehicles (UGVs). Swarm technology takes its cues from nature, particularly from the behaviors of ants, bees, schools of fish, and birds. The rapid growth of swarm technologies can be attributed to this organic inspiration. It is utilized in a variety of applications, such as pick‐and‐place robotics and drone swarms for laser shows. To mimic the behavior of swarm robots or microbots, this research work explores the use of swarm algorithms, namely particle swarm optimization (PSO) and rendezvous algorithms (RA). The emphasis will be on applying these algorithms to situations that require swarm robots to navigate around obstacles while planning their paths and forming patterns. This study shows how successful these algorithms are by using MATLAB as a useful tool. The outcomes demonstrate that the algorithms are capable of producing intricate patterns and facilitating effective path planning for swarms of robots. The robots' ability to avoid obstacles and travel around them at a high speed is noteworthy. This study covers a wide range of industries, such as space exploration, military/defense applications, storage, surveillance, and search and rescue. The application of swarm technology demonstrates how it may transform practical situations and provides information about how flexible and efficient swarm algorithms are in a variety of settings. By offering useful insights for researchers, engineers, and practitioners in utilizing the combined potential of swarm intelligence (SI) for a variety of applications, this investigation advances the field of swarm robotics.

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Using model checking to formally verify rendezvous algorithms for robots with lights in Euclidean space

Cited by 5 publications

References 15 publications

Multi-Agent Robot Motion Planning for Rendezvous Applications in a Mixed Environment with a Broadcast Event-Triggered Consensus Controller

Multi-Agent Robot Motion Planning for Rendezvous Applications in a Mixed Environment with a Broadcast Event-Triggered Consensus Controller

Uniform Circle Formation for Fully, Semi-, and Asynchronous Opaque Robots with Lights

Swarm Intelligence in Action: Particle Swarm Optimization and Rendezvous Algorithms for Swarm Robotics

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