Decentralized runtime enforcement for robotic swarms
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2020 21(11):1591-1606
1591
Frontiers of Information Technology & Electronic Engineering www.jzus.zju.edu.cn; engineering.cae.cn; www.springerlink.com ISSN 2095-9184 (print); ISSN 2095-9230 (online) E-mail: [email protected]
Decentralized runtime enforcement for robotic swarms∗ Chi HU†1 , Wei DONG†‡1 , Yong-hui YANG2 , Hao SHI†1 , Fei DENG2 1College 2Institute
of Computer Science, National University of Defense Technology, Changsha 410073, China of Computer Application, China Academy of Engineering Physics, Mianyang 621999, China † E-mail:
[email protected]; [email protected]; [email protected]
Received Apr. 30, 2020; Revision accepted Sept. 20, 2020; Crosschecked Oct. 10, 2020
Abstract: Robotic swarms are usually designed in a bottom-up way, which can make robotic swarms vulnerable to environmental impact. It is particularly true for the widely used control mode of robotic swarms, where it is often the case that neither the correctness of the swarming tasks at the macro level nor the safety of the interaction among agents at the micro level can be guaranteed. To ensure that the behaviors are safe at runtime, it is necessary to take into account the property guard approaches for robotic swarms in uncertain environments. Runtime enforcement is an approach which can guarantee the given properties in system execution and has no scalability issue. Although some runtime enforcement methods have been studied and applied in different domains, they cannot effectively solve the problem of property enforcement on robotic swarm tasks at present. In this paper, an enforcement method is proposed on swarms which should satisfy multi-level properties in uncertain environments. We introduce a macromicro property enforcing framework with the notion of agent shields and a discrete-time enforcing mechanism called D-time enforcing. To realize this method, a domain specification language and the corresponding enforcer synthesis algorithms are developed. We then apply the approach to enforce the properties of the simulated robotic swarm in the robotflocksim platform. We evaluate and show the effectiveness of the method with experiments on specific unmanned aerial vehicle swarm tasks. Key words: Runtime enforcement; Multi-level property; D-time enforcement; Robotic swarm https://doi.org/10.1631/FITEE.2000203 CLC number: TP311
1 Introduction Nowadays, robotic systems are attracting considerable attention in many important areas (Wong et al., 2017). Inspired by the biology of flocks of birds, herds, or other animals, many modeling approaches and control algorithms for robotic swarms have been studied. Nevertheless, the previous swarm modeling approaches can neither ensure the correctness of the swarm task scheduling nor mimic the ‡ *
Corresponding author
Project supported by the National Natural Science Foundation of China (Nos. 62032019 and 61690203) ORCID: Chi HU, https://orcid.org/0000-0002-4314-5862; Wei DONG, https://orcid.org/0000-0002-8033-7943; Hao SHI, https://orcid.org/0000-0002-6318-9918; Fei DENG, https:// orcid.org/0000-0
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