Decentralized runtime enforcement for robotic swarms

2020 ◽  
Vol 21 (11) ◽  
pp. 1591-1606
Author(s):  
Chi Hu ◽  
Wei Dong ◽  
Yong-hui Yang ◽  
Hao Shi ◽  
Fei Deng
Keyword(s):  
Runtime Enforcement ◽  
Robotic Swarms

scholarly journals Controlling Interactions with Libraries in Android Apps Through Runtime Enforcement

2019 ◽  
Vol 14 (2) ◽  
pp. 1-29 ◽  
Author(s):  
Oliviero Riganelli ◽  
Daniela Micucci ◽  
Leonardo Mariani
Keyword(s):  
Runtime Enforcement ◽  
Android Apps

scholarly journals Verifying Fault-Tolerance in Probabilistic Swarm Systems

2020 ◽  
Author(s):  
Alessio Lomuscio ◽  
Edoardo Pirovano
Keyword(s):  
Fault Tolerance ◽  
Temporal Logic ◽  
Decision Problem ◽  
Swarm Robotics ◽  
Linear Time ◽  
Experimental Results ◽  
Robotic Swarms ◽  
Linear Time Temporal Logic ◽  
Probabilistic Nature

We present a method for reasoning about fault-tolerance in unbounded robotic swarms. We introduce a novel semantics that accounts for the probabilistic nature of both the swarm and possible malfunctions, as well as the unbounded nature of swarm systems. We define and interpret a variant of probabilistic linear-time temporal logic on the resulting executions, including those arising from faulty behaviour by some of the agents in the swarm. We specify the decision problem of parameterised fault-tolerance, which concerns determining whether a probabilistic specification holds under possibly faulty behaviour. We outline a verification procedure that we implement and use to study a foraging protocol from swarm robotics, and report the experimental results obtained.

Segregation of Heterogeneous Robotics Swarms via Convex Optimization

2016 ◽  
Author(s):  
Victoria Edwards ◽  
Paulo Rezeck ◽  
Luiz Chaimowicz ◽  
M. Ani Hsieh
Keyword(s):  
Convex Optimization ◽  
Division Of Labor ◽  
Optimization Approach ◽  
Control Methods ◽  
Natural Phenomena ◽  
The Past ◽  
Robotic Swarms ◽  
Theoretical Results

The division of labor amongst a heterogeneous swarm of robots increases the range and sophistication of the tasks the swarm can accomplish. To efficiently execute a task the swarm of robots must have some starting organization. Over the past decade segregation of robotic swarms has grown as a field of research drawing inspiration from natural phenomena such as cellular segregation. A variety of different approaches have been undertaken to devise control methods to organize a heterogeneous swarm of robots. In this work, we present a convex optimization approach to segregate a heterogeneous swarm into a set of homogeneous collectives. We present theoretical results that show our approach is guaranteed to achieve complete segregation and validate our strategy in simulation and experiments.

On Bidirectional Runtime Enforcement

2021 ◽  
pp. 3-21
Author(s):  
Luca Aceto ◽  
Ian Cassar ◽  
Adrian Francalanza ◽  
Anna Ingólfsdóttir
Keyword(s):  
Runtime Enforcement
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