Cooperation of multiple autonomous robots and analysis of their swarm behavior
Journal Title: Autobusy. Technika, Eksploatacja, Systemy Transportowe - Year 2018, Vol 226, Issue 12
Abstract
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.
Authors and Affiliations
B. Czejdo, Wiktor Daszczuk, Waldemar Grabski, Sambit Bhattacharya
Keywords
Related Articles
- EP ID EP574151
- DOI 10.24136/atest.2018.516
- Views 51
- Downloads 0
Konkurencja transportu autobusowego i kolejowego w obsłudze portów lotniczych w Polsce
Głównym celem artykułu jest ocena funkcjonowania sytemu dowozowego do portów lotniczych w Polsce na podstawie badań pierwotnych. Przeprowadzone zostały one metodą wywiadu osobistego w polskich portach lotniczych i obejmo...
Wybrane środki transportu w turystyce krajowej
The article presents the selected means of transport with regards to realization of transport services in domestic tourism. It was done the task, which allowed for assessment the selected means of transport with referenc...
Analiza wpływu szumów konwertera LNB na odbiór sygnałów satelitarnych
One of the parameters to characterize the properties of the antenna is noise figure. The noise figure of LNBs is a measurement of how sensitive the LNB is or how much noise the LNB will add to the signal you may be inten...
Rozwój polityki transportowej UE dla miast
The aim of the article is to present the assumptions of the development of public transport in the European Union transport policy and the role of the European institutions in their implementation. The article presents t...
Mobilny robot poszukiwawczo-transportowy
Paper shows the process of designing and constructing a remotely controlled mobile exploratory-transport robot. The project’s and robot’s structural assumptions were made. The rule of using the device was stated. The pro...