A distributed approach for road clearance with multi-robot in urban search and rescue environment

Nath, Amar; Arun, A. R.; Niyogi, Rajdeep

doi:10.1007/s41315-019-00111-5

Cited by 18 publications

(11 citation statements)

References 16 publications

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“…In [3,8,16,17] distributed approaches for collaborative task execution are suggested based on different assumptions, depending on whether or not the team size is known in advance. Formal verification using model checking has been suggested in [9,10] when the team size is known in advance.…”

Section: State Of the Art And Related Workmentioning

confidence: 99%

“…The only way the robots can communicate is through messages. It is assumed in [3,8,16,17] that the communication infrastructure is lossless and message delay is finite.…”

Section: Team Formation Protocolmentioning

confidence: 99%

“…The works [3,8,16,17] consider collaborative task execution in a dynamic environment where all the agents associated with the execution should be present at the location of the task. In [3,8,16,17] distributed approaches for collaborative task execution are suggested based on different assumptions.…”

Section: Team Formation Protocolmentioning

confidence: 99%

“…TLA + perfectly meets our requirements. Therefore, we chose TLA + and the TLC model checker for specifying and verifying the requirements and desirable properties of every successful execution of the team formation algorithms [8,3,16,17].…”

mentioning

confidence: 99%

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Formal specification and verification of a team formation protocol using TLA

Niyogi

Nath

2023

Preprint

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Team formation in an environment where some relevant parameters are not known in advance is a challenging problem. Communicating automata and distributed algorithms have been used to describe protocols for team formation. A high-level specification provides a mathematical description of a protocol or a program. TLA is a formal specification language designed to provide high-level specifications of concurrent and distributed systems. The associated model checker known as TLC is capable of model checking the TLA specifications. Recently formal specification of a team formation protocol is given using TLA when there is a single initiator (an agent or a robot), that initiates the team formation. Using TLA , we examine the formal specification for the multiple initiator situation and demonstrate that a composition technique can yield a single monolithic specification for the multiple initiator situation from the single initiator situation specification. We have used models of varying sizes, and the TLC model checker has confirmed that the protocol’s specifications meet certain desired characteristics in each case.

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Section: State Of the Art And Related Workmentioning

confidence: 99%

“…The only way the robots can communicate is through messages. It is assumed in [3,8,16,17] that the communication infrastructure is lossless and message delay is finite.…”

Section: Team Formation Protocolmentioning

confidence: 99%

Section: Team Formation Protocolmentioning

confidence: 99%

mentioning

confidence: 99%

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Formal specification and verification of a team formation protocol using TLA

Niyogi

Nath

2023

Preprint

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“…So far, a number of coalition formation algorithms have been developed (see e.g. [53]) and applied in many areas such as disaster response [26] and urban search with rescue environment [43]. Nevertheless, existing coalition formation algorithms might be incapable of dealing with the MTMRA problem due mainly to the complexity of constraints [47], [49].…”

Section: Introductionmentioning

confidence: 99%

Task Allocation on Layered Multiagent Systems: When Evolutionary Many-Objective Optimization Meets Deep Q-Learning

Wang

et al. 2021

IEEE Trans. Evol. Computat.

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This paper is concerned with the multi-task multiagent allocation problem via many-objective optimization for multi-agent systems (MASs). First, a novel layered MAS model is constructed to address the multi-task multi-agent allocation problem that includes both the original task simplification and the many-objective allocation. In the first layer of the model, the deep Q-learning method is introduced to simplify the prioritization of the original task set. In the second layer of the model, the modified shift-based density estimation (MSDE) method is put forward to improve the conventional Strength Pareto Evolutionary Algorithm 2 (SPEA2) in order to achieve many-objective optimization on task assignments. Then, an MSDE-SPEA2-based method is proposed to tackle the many-objective optimization problem with objectives including task allocation, makespan, agent satisfaction, resource utilization, task completion, and task waiting time. As compared with existing allocation methods, the developed method in this paper exhibits an outstanding feature that the task assignment and the task scheduling are carried out simultaneously. Finally, extensive experiments are conducted to 1) verify the validity of the proposed model and the effectiveness of two main algorithms; and 2) illustrate the optimal solution for task allocation and efficient strategy for task scheduling under different scenarios.

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Formal specification and verification of a team formation protocol using TLA⁺

Niyogi,

Nath

2023

Softw Pract Exp

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Team formation in an environment where some relevant parameters are not known in advance is a challenging problem. Communicating automata and distributed algorithms have been used to describe protocols for team formation. A high‐level specification provides a mathematical description of a protocol or a program. TLA is a formal specification language designed to provide high‐level specifications of concurrent and distributed systems. The associated model checker known as TLC is capable of model checking the TLA specifications. Recently, formal specification of a team formation protocol is given using TLA when there is a single initiator (an agent or a robot) that initiates the team formation. Using TLA, we examine the formal specification for the multiple initiator situation and demonstrate that a composition technique can yield a single monolithic specification for the multiple initiator situation from the single initiator situation specification. We have used models of varying sizes, and the TLC model checker has confirmed that the protocol's specifications meet certain desired characteristics in each case.

show abstract

A distributed approach for road clearance with multi-robot in urban search and rescue environment

Cited by 18 publications

References 16 publications

Formal specification and verification of a team formation protocol using TLA

Formal specification and verification of a team formation protocol using TLA

Task Allocation on Layered Multiagent Systems: When Evolutionary Many-Objective Optimization Meets Deep Q-Learning

Formal specification and verification of a team formation protocol using TLA⁺

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A distributed approach for road clearance with multi-robot in urban search and rescue environment

Cited by 18 publications

References 16 publications

Formal specification and verification of a team formation protocol using TLA

Formal specification and verification of a team formation protocol using TLA

Task Allocation on Layered Multiagent Systems: When Evolutionary Many-Objective Optimization Meets Deep Q-Learning

Formal specification and verification of a team formation protocol using TLA+

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Formal specification and verification of a team formation protocol using TLA⁺