Most existing work in the literature typically ensures the correctness of mobile robot protocols via ad hoc handwritten proofs, which are both cumbersome and error-prone. This paper surveys state-of-the-art results about applying formal methods approaches (namely, model-checking, program synthesis, and proof assistants) to the context of mobile robot networks. Those methods already proved useful for bug-hunting in published literature, designing correct-by-design optimal protocols, and certifying impossibility results and protocols.
Potop-Butucaru, M., Sznajder, N., Tixeuil, S., & Urbain, X. (2019). Formal methods for mobile Robots. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 11340 LNCS, pp. 278–313). Springer Verlag. https://doi.org/10.1007/978-3-030-11072-7_12