使用 Timed Rebeca 对 ROS2 多机器人系统进行建模与模型检验

Computer Science > Robotics arXiv:2511.15227 (cs) [Submitted on 19 Nov 2025 (v1), last revised 17 Sep 2026 (this version, v2)] Title:Modelling and Model-Checking a ROS2 Multi-Robot System using Timed Rebeca Authors:Hiep Hong Trinh, Marjan Sirjani, Federico Ciccozzi, Abu Naser Masud, Mikael Sjödin View a PDF of the paper titled Modelling and Model-Checking a ROS2 Multi-Robot System using Timed Rebeca, by Hiep Hong Trinh and 4 other authors View PDF HTML (experimental) Abstract:Model-based development accelerates prototyping, enables earlier experimentation, and ensures rigorous validation of system design intents. In multi-agent systems with complex asynchronous interactions and concurrency, formal verification, particularly model-checking, offers an automated means of confirming that desired properties hold. Timed Rebeca, an actor-based modelling language supporting reactive, concurrent, and timed behaviors, together with its model-checking tool, provides a powerful framework for this purpose. By leveraging these capabilities, Timed Rebeca can intuitively capture ROS2 node graphs, recurring physical signals, motion primitives, and other time-convertible behaviors. Nevertheless, modelling and verifying multi-robot systems entail significant challenges: abstracting intricate information, bridging the gap between discrete models and continuous system dynamics, and managing large state spaces while preserving fidelity. To address these challenges, we propose discretization strategies tailored to various data types and identify thresholds of abstraction that balance accuracy and tractability. We further introduce optimization techniques to accelerate verification. Our work demonstrates how to systematically design and verify multi-robot systems through Timed Rebeca, efficiently transform continuous dynamics into discrete models for model-checking, and maintain a practical, bidirectional flow between the abstract model and the ROS2 implementation. The accompanying Rebeca and ROS2 codebases, made openly available, serve as a foundational reference for researchers and developers aiming to model and verify advanced autonomous robotic systems. Subjects: Robotics (cs.RO); Software Engineering (cs.SE) Cite as: arXiv:2511.15227 [cs.RO] (or arXiv:2511.15227v2 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2511.15227 Focus to learn more arXiv-issued DOI via DataCite Submission history From: Hong Hiep Trinh [view email] [v1] Wed, 19 Nov 2025 08:28:30 UTC (4,026 KB) [v2] Thu, 17 Sep 2026 07:14:19 UTC (1,868 KB) Full-text links: Access Paper: View a PDF of the paper titled Modelling and Model-Checking a ROS2 Multi-Robot System using Timed Rebeca, by Hiep Hong Trinh and 4 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2025-11 Change to browse by: cs cs.SE References & Citations NASA ADS Google Scholar Semantic Scholar export BibTeX citation Loading... BibTeX formatted citation × loading... Data provided by: Bookmark Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)