In swarm robotics, behaviors requiring consensus, meaning having the robots agree on a set of variables, have attracted great attention over the years. Determining the robustness and applicability of these behaviors in harsh communication environments is an open area of research. In this paper, we propose the use of a formal software engineering technique, statistical model checking, to model and assess the robustness of consensus-based behaviors from a communication standpoint. We validate our approach on two common scenarios for a robot swarm: the election of a leader and the allocation of a set of tasks. With the proposed model, we verify the functional correctness of these consensus-based algorithms, as well as assessing their robustness to communication loss and robot failures.

中文翻译：

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基于共识的机器人群体行为的鲁棒性

多年来，在群体机器人技术中，需要达成共识的行为（即让机器人就一系列变量达成共识）已引起了极大的关注。确定这些行为在恶劣的通信环境中的鲁棒性和适用性是一个开放的研究领域。在本文中，我们建议使用正式的软件工程技术，统计模型检查来从通信的角度对基于共识的行为进行鲁棒性建模和评估。我们在两个常见的机器人群体场景中验证了我们的方法：选举领导者和分配一组任务。使用提出的模型，我们验证了这些基于共识的算法的功能正确性，并评估了它们对通信丢失和机器人故障的鲁棒性。