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Model Checking of Robot Gathering

Authors: Ha Thi Thu Doan, François Bonnet, and Kazuhiro Ogata

Published in: LIPIcs, Volume 95, 21st International Conference on Principles of Distributed Systems (OPODIS 2017)


Abstract
Recent advances in distributed computing highlight models and algorithms for autonomous mo- bile robots that self-organize and cooperate together in order to solve a global objective. As results, a large number of algorithms have been proposed. These algorithms are given together with proofs to assess their correctness. However, those proofs are informal, which are error prone. This paper presents our study on formal verification of mobile robot algorithms. We first propose a formal model for mobile robot algorithms on anonymous ring shape network under multiplicity and asynchrony assumptions. We specify this formal model in Maude, a specification and pro- gramming language based on rewriting logic. We then use its model checker to formally verify an algorithm for robot gathering problem on ring enjoys some desired properties. As the result of the model checking, counterexamples have been found. We detect the sources of some unforeseen design errors. We, furthermore, give our interpretations of these errors.

Cite as

Ha Thi Thu Doan, François Bonnet, and Kazuhiro Ogata. Model Checking of Robot Gathering. In 21st International Conference on Principles of Distributed Systems (OPODIS 2017). Leibniz International Proceedings in Informatics (LIPIcs), Volume 95, pp. 12:1-12:16, Schloss Dagstuhl - Leibniz-Zentrum für Informatik (2018)


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@InProceedings{doan_et_al:LIPIcs.OPODIS.2017.12,
  author =	{Doan, Ha Thi Thu and Bonnet, Fran\c{c}ois and Ogata, Kazuhiro},
  title =	{{Model Checking of Robot Gathering}},
  booktitle =	{21st International Conference on Principles of Distributed Systems (OPODIS 2017)},
  pages =	{12:1--12:16},
  series =	{Leibniz International Proceedings in Informatics (LIPIcs)},
  ISBN =	{978-3-95977-061-3},
  ISSN =	{1868-8969},
  year =	{2018},
  volume =	{95},
  editor =	{Aspnes, James and Bessani, Alysson and Felber, Pascal and Leit\~{a}o, Jo\~{a}o},
  publisher =	{Schloss Dagstuhl -- Leibniz-Zentrum f{\"u}r Informatik},
  address =	{Dagstuhl, Germany},
  URL =		{https://drops.dagstuhl.de/entities/document/10.4230/LIPIcs.OPODIS.2017.12},
  URN =		{urn:nbn:de:0030-drops-86324},
  doi =		{10.4230/LIPIcs.OPODIS.2017.12},
  annote =	{Keywords: Mobile Robot, Robot Gathering, Formal Verification, Model Checking, Maude}
}
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