论文标题
机器人群作为混合系统：建模和验证
Robot Swarms as Hybrid Systems: Modelling and Verification
论文作者
论文摘要
群体机器人系统由一组机器人组成，这些机器人执行合作任务而无需任何集中协调。原则上，群可以实现灵活和可扩展的解决方案；但是，设计可以保证必要的全球行为的个体控制算法是困难的。几位研究人员已经提出了形式的方法，以增加对群体行为的信心。在这项工作中，我们建议将群作为混合系统建模，并使用可及性分析来验证其特性。我们讨论了挑战，并报告从将混合形式主义应用于群体机器人系统的验证中获得的经验。
A swarm robotic system consists of a team of robots performing cooperative tasks without any centralized coordination. In principle, swarms enable flexible and scalable solutions; however, designing individual control algorithms that can guarantee a required global behavior is difficult. Formal methods have been suggested by several researchers as a mean to increase confidence in the behavior of the swarm. In this work, we propose to model swarms as hybrid systems and use reachability analysis to verify their properties. We discuss challenges and report on the experience gained from applying hybrid formalisms to the verification of a swarm robotic system.
