Dependable Multi- robot Cooperative Tasking in Uncertain and Dynamic Environments

This project aims at deriving a scalable, correct-by-construction formal design methodology for multi-robot systems that can guarantee the accomplishment of high-level team missions through automatic synthesis of local coordination mechanisms and control laws. The basic idea is to decompose the team mission into individual subtasks such that the design can be reduced to local synthesis problems for individual robots. Multidisciplinary approaches combining hybrid systems, supervisory control, regular inference and model checking are utilized to achieve this goal. In this poster, we report our recent efforts towards a unified framework that can combine our newly developed top-down mission planning with the existing bottom-design design methods in the literature. Our proposal of the unified framework, potential benefits, technical challenges and our basic ideas/approaches will be reported.