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Title
Verification of Asynchronous Mobile-Robots in Partially-Known Environments
AuthorAminof, Benjamin ; Murano, Aniello ; Rubin, Sasha ; Zuleger, Florian
Published in
PRIMA 2015: Principles and Practice of Multi-Agent Systems - 18th International Conference, Bertinoro, Italy, October 26-30, 2015, Proceedings : Chen, Qingliang; Torroni, Paolo; Villata, Serena; Hsu, Jane; Omicini, Andrea, Cham, 2015, page 185-200
Published2015
LanguageEnglish
SeriesLecture Notes in Computer Science ; 9387
Document typeArticle in a collected edition
Project-/ReportnumberAustrian Science Fund (FWF): Austrian National Research Network S11403-N23 (RiSE)
Project-/ReportnumberVienna Science and Technology Fund (WWTF): ICT12-059
Project-/ReportnumberFP7 EU: 600958-SHERPA
ISBN9783319255231
URNurn:nbn:at:at-ubtuw:3-3651 Persistent Identifier (URN)
DOI10.1007/978-3-319-25524-8_12 
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 The work is publicly available
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Abstract (English)

This paper establishes a framework based on logic and automata theory in which to model and automatically verify that multiple mobile robots, with sensing abilities, moving asynchronously, correctly perform their tasks. The motivation is from practical scenarios in which the environment is not completely know to the robots, e.g., physical robots exploring a maze, or software agents exploring a hostile network. The framework shows how to express tasks in a logical language, and exhibits an algorithm solving the parameterised verification problem, where the graphs are treated as the parameter. The main assumption that yields decidability is that the robots take a bounded number of turns. We prove that dropping this assumption results in undecidability, even for robots with very limited (“local”) sensing abilities.

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