Certified universal gathering in R^2 for oblivious mobile robots

DOI10.1007/978-3-662-53426-7_14MaRDI QIDQ1660934zbMATH OpenOpenAlexFDO

Authors Pierre Courtieu, Lionel Rieg, Sébastien Tixeuil, Xavier Urbain

Publication date 16 August 2018

Full work available at URL https://arxiv.org/abs/1602.08361

Mathematics Subject Classification ID

Distributed systems (68M14) Artificial intelligence for robotics (68T40) Computer graphics; computational geometry (digital and algorithmic aspects) (68U05)

Abstract: We present a unified formal framework for expressing mobile robots models, protocols, and proofs, and devise a protocol design/proof methodology dedicated to mobile robots that takes advantage of this formal framework. As a case study, we present the first formally certified protocol for oblivious mobile robots evolving in a two-dimensional Euclidean space. In more details, we provide a new algorithm for the problem of universal gathering mobile oblivious robots (that is, starting from any initial configuration that is not bivalent, using any number of robots, the robots reach in a finite number of steps the same position, not known beforehand) without relying on a common orientation nor chirality. We give very strong guaranties on the correctness of our algorithm by proving formally that it is correct, using the COQ proof assistant. This result demonstrates both the effectiveness of the approach to obtain new algorithms that use as few assumptions as necessary, and its manageability since the amount of developed code remains human readable.

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• scientific article; zbMATH DE number 2038783

Cited in

(16)

• On asynchronous rendezvous in general graphs
• TuringMobile: a Turing machine of oblivious mobile robots with limited visibility and its applications
• Verification of agent navigation in partially-known environments
• Self-stabilizing gathering of mobile robots under crash or Byzantine faults
• Parameterized verification of algorithms for oblivious robots on a ring
• Embedded pattern formation by asynchronous robots without chirality
• Formal verification of mobile robot protocols
• Model checking of robot gathering
• TuringMobile: a Turing machine of oblivious mobile robots with limited visibility and its applications
• Synchronous gathering without multiplicity detection: a certified algorithm
• Gathering in the plane of location-aware robots in the presence of spies
• Synchronous gathering without multiplicity detection: a certified algorithm
• Squeezing streams and composition of self-stabilizing algorithms
• An environment for specifying and model checking mobile ring robot algorithms
• Deterministic color-optimal self-stabilizing semi-synchronous gathering: two certified algorithms
• On the computational power of mobile robots under sequential schedulers

Describes a project that uses

Uses Software

• Coq

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