Paper Info
Title
Formal verification of mobile robot protocols.
Abstract
Mobile robot networks emerged in the past few years as a promising distributed computing model. Existing work in the literature typically ensures the correctness of mobile robot protocols via ad hoc handwritten proofs, which, in the case of asynchronous execution models, are both cumbersome and error-prone. Our contribution is twofold. We first propose a formal model to describe mobile robot protocols operating in a discrete space i.e., with a finite set of possible robot positions, under synchrony and asynchrony assumptions. We translate this formal model into the DVE language, which is the input format of the model-checkers DiVinE and ITS tools, and formally prove the equivalence of the two models. We then verify several instances of two existing protocols for variants of the ring exploration in an asynchronous setting: exploration with stop and perpetual exclusive exploration. For the first protocol we refine the correctness bounds and for the second one, we exhibit a counter-example. This protocol is then modified and we establish the correctness of the new version with an inductive proof.
Year
DOI
Venue
2016
10.1007/s00446-016-0271-1
Distributed Computing
Keywords
Field
DocType
Mobile robots,Verification,Model checking
Asynchronous communication,Model checking,Programming language,Computer science,Correctness,Theoretical computer science,Equivalence (measure theory),Mathematical proof,Robot,Mobile robot,Formal verification
Journal
Volume
Issue
ISSN
29
6
0178-2770
Citations 
PageRank 
References 
10
0.57
35
Authors
6
Name
Order
Citations
PageRank
Beatrice Berard131228.17
Pascal Lafourcade256958.37
Laure Millet3281.33
Maria Potop-Butucaru411616.55
Yann Thierry-Mieg522518.17
Sébastien Tixeuil697893.01