Analysis of path planning algorithms : a formal verification-based approach

Arash Khabbaz Saberi; J.F. Groote; S. Keshishzadeh

doi:10.7551/978-0-262-31709-2-ch035

Analysis of path planning algorithms : a formal verification-based approach

Arash Khabbaz Saberi, J.F. Groote, S. Keshishzadeh

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

11 Citations (Scopus)

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Abstract

With the emergence of multi-robot systems in the field of robotics there is a need for new approaches for modeling and investigating the behavior of robotic systems. Formal verification is a well-known mathematical method which has been used for decades in order to expose potential design faults in industrial systems. In this paper we introduce the application of formal verification techniques in the context of multirobot systems. Applying verification techniques, we aim to prove that the collective behavior of a group of robots satisfies certain desired properties. We illustrate our approach using a simple path planning algorithm which conducts a set of robots from their initial positions to their destinations on a planar surface.

Original language	English
Title of host publication	Advances in Artificial Life - ECAL 2013 (Proceedings of the 12th European Conference on the Synthesis and Simulation of Living Systems, Taormina, Italy, September 2-6, 2013)
Editors	P. Liò, O. Miglino, G. Nicosia, S. Nolfi, M. Pavone
Publisher	MIT Press
Pages	232-239
ISBN (Print)	978-0-262-31709-2
DOIs	https://doi.org/10.7551/978-0-262-31709-2-ch035
Publication status	Published - 2013
Event	conference; 12th European Conference on the Synthesis and Simulation of Living Systems; 2013-09-02; 2013-09-06 - Duration: 2 Sept 2013 → 6 Sept 2013

Conference

Conference	conference; 12th European Conference on the Synthesis and Simulation of Living Systems; 2013-09-02; 2013-09-06
Period	2/09/13 → 6/09/13
Other	12th European Conference on the Synthesis and Simulation of Living Systems

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10.7551/978-0-262-31709-2-ch035

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Khabbaz Saberi, A., Groote, J. F., & Keshishzadeh, S. (2013). Analysis of path planning algorithms : a formal verification-based approach. In P. Liò, O. Miglino, G. Nicosia, S. Nolfi, & M. Pavone (Eds.), Advances in Artificial Life - ECAL 2013 (Proceedings of the 12th European Conference on the Synthesis and Simulation of Living Systems, Taormina, Italy, September 2-6, 2013) (pp. 232-239). MIT Press. https://doi.org/10.7551/978-0-262-31709-2-ch035

Khabbaz Saberi, Arash ; Groote, J.F. ; Keshishzadeh, S. / Analysis of path planning algorithms : a formal verification-based approach. Advances in Artificial Life - ECAL 2013 (Proceedings of the 12th European Conference on the Synthesis and Simulation of Living Systems, Taormina, Italy, September 2-6, 2013). editor / P. Liò ; O. Miglino ; G. Nicosia ; S. Nolfi ; M. Pavone. MIT Press, 2013. pp. 232-239

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title = "Analysis of path planning algorithms : a formal verification-based approach",

abstract = "With the emergence of multi-robot systems in the field of robotics there is a need for new approaches for modeling and investigating the behavior of robotic systems. Formal verification is a well-known mathematical method which has been used for decades in order to expose potential design faults in industrial systems. In this paper we introduce the application of formal verification techniques in the context of multirobot systems. Applying verification techniques, we aim to prove that the collective behavior of a group of robots satisfies certain desired properties. We illustrate our approach using a simple path planning algorithm which conducts a set of robots from their initial positions to their destinations on a planar surface.",

author = "{Khabbaz Saberi}, Arash and J.F. Groote and S. Keshishzadeh",

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booktitle = "Advances in Artificial Life - ECAL 2013 (Proceedings of the 12th European Conference on the Synthesis and Simulation of Living Systems, Taormina, Italy, September 2-6, 2013)",

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note = "conference; 12th European Conference on the Synthesis and Simulation of Living Systems; 2013-09-02; 2013-09-06 ; Conference date: 02-09-2013 Through 06-09-2013",

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Khabbaz Saberi, A , Groote, JF & Keshishzadeh, S 2013, Analysis of path planning algorithms : a formal verification-based approach. in P Liò, O Miglino, G Nicosia, S Nolfi & M Pavone (eds), Advances in Artificial Life - ECAL 2013 (Proceedings of the 12th European Conference on the Synthesis and Simulation of Living Systems, Taormina, Italy, September 2-6, 2013). MIT Press, pp. 232-239, conference; 12th European Conference on the Synthesis and Simulation of Living Systems; 2013-09-02; 2013-09-06, 2/09/13. https://doi.org/10.7551/978-0-262-31709-2-ch035

Analysis of path planning algorithms : a formal verification-based approach. / Khabbaz Saberi, Arash ; Groote, J.F.; Keshishzadeh, S.
Advances in Artificial Life - ECAL 2013 (Proceedings of the 12th European Conference on the Synthesis and Simulation of Living Systems, Taormina, Italy, September 2-6, 2013). ed. / P. Liò; O. Miglino; G. Nicosia; S. Nolfi; M. Pavone. MIT Press, 2013. p. 232-239.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

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N2 - With the emergence of multi-robot systems in the field of robotics there is a need for new approaches for modeling and investigating the behavior of robotic systems. Formal verification is a well-known mathematical method which has been used for decades in order to expose potential design faults in industrial systems. In this paper we introduce the application of formal verification techniques in the context of multirobot systems. Applying verification techniques, we aim to prove that the collective behavior of a group of robots satisfies certain desired properties. We illustrate our approach using a simple path planning algorithm which conducts a set of robots from their initial positions to their destinations on a planar surface.

AB - With the emergence of multi-robot systems in the field of robotics there is a need for new approaches for modeling and investigating the behavior of robotic systems. Formal verification is a well-known mathematical method which has been used for decades in order to expose potential design faults in industrial systems. In this paper we introduce the application of formal verification techniques in the context of multirobot systems. Applying verification techniques, we aim to prove that the collective behavior of a group of robots satisfies certain desired properties. We illustrate our approach using a simple path planning algorithm which conducts a set of robots from their initial positions to their destinations on a planar surface.

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BT - Advances in Artificial Life - ECAL 2013 (Proceedings of the 12th European Conference on the Synthesis and Simulation of Living Systems, Taormina, Italy, September 2-6, 2013)

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A2 - Nolfi, S.

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Khabbaz Saberi A , Groote JF, Keshishzadeh S. Analysis of path planning algorithms : a formal verification-based approach. In Liò P, Miglino O, Nicosia G, Nolfi S, Pavone M, editors, Advances in Artificial Life - ECAL 2013 (Proceedings of the 12th European Conference on the Synthesis and Simulation of Living Systems, Taormina, Italy, September 2-6, 2013). MIT Press. 2013. p. 232-239 doi: 10.7551/978-0-262-31709-2-ch035

Analysis of path planning algorithms : a formal verification-based approach

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