Multi-robotic systems are typical examples of complex multi-agent systems. The robots - autonomic agents - cooperate with each other in order to achieve the system goals. While designing multi-robotic systems, we should ensure that these goals remain achievable despite robot failures, i.e., guarantee system fault tolerance. However, designing the fault tolerance mechanisms for multi-agent systems is a notoriously difficult task. In this paper we describe a case study in formal development of a complex fault tolerant multi-robotic system. The system design relies on cooperative error recovery and dynamic reconfiguration. We demonstrate how to specify and verify essential properties of a fault tolerant multi-robotic system in Event-B and derive a detailed formal system specification by refinement. The main objective of the presented case study is to investigate suitability of a refinement approach for specifying a complex multi-agent system with co-operative error recovery. © 2012 Springer-Verlag.
CITATION STYLE
Pereverzeva, I., Troubitsyna, E., & Laibinis, L. (2012). A case study in formal development of a fault tolerant multi-robotic system. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 7527 LNCS, pp. 16–31). https://doi.org/10.1007/978-3-642-33176-3_2
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