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Temporal Modelling and Verification of Multi-Robot Concurrent Activities
Objectives: In this work, we have introduced a method for formally verifying the concurrent activities of multiple robots. The objective is to formalize a framework for concurrent systems by using temporal logics. Methods/Statistical Analysis: The movement of the robots in given environment is modelled as a weighted transition system and the target is specified in Linear Temporal Logic (LTL) formulae over a set of propositions. Findings: The LTL formulas are characterized to handle the uncertainty or any abnormal activity during the process. The system is designed using SPIN model checker in which different LTL properties are verified. A theoretical description is supported by some experimental results, generated using the existing logics and techniques. Application/ Improvement: This work can be implemented for the surveillance task in pickup and delivery network.
Formal Verification, Model Checking, Path Planning, Robotics
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