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1999
Springer

Formal Modeling and Analysis of Hybrid Systems: A Case Study in Multi-robot Coordination

8 years 7 months ago
Formal Modeling and Analysis of Hybrid Systems: A Case Study in Multi-robot Coordination
Abstract. The design of controllers for hybridsystemsi.e. mixeddiscretecontinuous systems in a systematic manner remains a challenging task. In this case study, we apply formal modeling to the design of communication and control strategies for a team of autonomous robots to attain speci ed goals in a coordinated manner. The model of linear hybrid automata is used to describe the high-level design, and the veri cation software HyTechis used for symbolic analysis of the description. The goal of the project is to understand tradeo s among various design alternatives by generating constraints among parameters using symbolic analysis. In this paper, we report on di culties in modeling a team of robots using linear hybrid automata, results of analysis experiments, promise of the approach, and challenges for future research.
Rajeev Alur, Joel M. Esposito, M. Kim, Vijay Kumar
Added 04 Aug 2010
Updated 04 Aug 2010
Type Conference
Year 1999
Where FM
Authors Rajeev Alur, Joel M. Esposito, M. Kim, Vijay Kumar, Insup Lee
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