Previous works on formally studying mobile robotic swarms consider necessary and sufficient system hypotheses enabling to solve theoretical benchmark problems (geometric pattern formation, gathering, scattering, etc.). We argue that formal methods can also help in the early stage of mobile robotic swarms protocol design, to obtain protocols that are correct-by-design, even for problems arising from real-world use cases, not previously studied theoretically. Our position is supported by a concrete case study. Starting from a real-world case scenario, we jointly design the formal problem specification, a family of protocols that are able to solve the problem, and their corresponding proof of correctness, all expressed with the same formal framework. The concrete framework we use for our development is the PACTOLE library based on the COQ proof assistant.

中文翻译：

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群机器人算法的计算机辅助形式设计

以前正式研究移动机器人群的工作考虑了必要和足够的系统假设，这些假设可以解决理论基准问题（几何图案的形成，聚集，散射等）。我们认为，形式化方法也可以在移动机器人群协议设计的早期阶段提供帮助，以获取按设计正确的协议，即使是针对实际用例所产生的问题，也从未进行过理论上的研究。我们的立场得到了具体案例研究的支持。从实际案例出发，我们共同设计了正式的问题规范，能够解决问题的一系列协议及其相应的正确性证明，均以相同的正式框架表示。