Constraint-based Verification of Formation Control

Abstract

Collision-free motion planning of formation of robots is an essential property to assess for safety purpose. We propose in this paper a new formal verification method based on abstract interpretation and constraint satisfaction problems to reach this goal. We consider state of the art control algorithms for formation maneuver to generate trajectories for a group of robots. Additionally, bounded uncertainties are considered to represent potential localization and measure errors. The collision-free property is formalized using the constraint satisfaction problem framework.