01737nas a2200157   4500008004100000245011500041210006900156300001200225520113700237653002101374653001301395100001901408700001501427700001601442856012101458       2007                        eng d00aProbabilistic verification of decentralized multi-agent control strategies: a case study in conflict avoidance0 aProbabilistic verification of decentralized multiagent control s  a170-1753 a<p>Many challenging verification problems arise from complex hybrid automata that model decentralized control systems. As an example, we will consider decentralized policies that steer multiple vehicles in a shared environment: properties of safety and liveness, such as collision avoidance and ultimate convergence of all vehicles to their goals, must be verified. To formally verify the behavior of proposed policies, it is desired to identify the broadest class of start and goal configurations, such that safety and liveness would be guaranteed. Simple conditions are proposed to identify such a class: ideally, a formal proof that such conditions are necessary and sufficient for safety and liveness is requested. Unfortunately, in decentralized control frameworks classical approaches are difficult to apply. Hence, probabilistic verification method can be applied to quantify the accuracy and the confidence of the veridicity of the desired predicate. The probabilistic verification method is applied to a recently proposed cooperative and completely decentralized collision avoidance policy for non-holonomic vehicles.</p>
10aEmbedded Control10aRobotics1 aPallottino, L.1 aBicchi, A.1 aFrazzoli, E  uhttp://95.110.227.16/publications/probabilistic-verification-decentralized-multi-agent-control-strategies-case-study01637nas a2200169   4500008004100000245010400041210006900145300001400214520101200228653002101240653001301261100001901274700001701293700001601310700001501326856012601341       2006                        eng d00aProbabilistic verification of a decentralized policy for conflict resolution in multi-agent systems0 aProbabilistic verification of a decentralized policy for conflic  a2448-24533 a<p>In this paper, we consider a decentralized cooperative control policy proposed recently for steering multiple non-holonomic vehicles between assigned start and goal configurations while avoiding collisions. The policy is known to ensure safety (i.e., collision avoidance) for an arbitrarily large number of vehicles, if initial configurations satisfy certain conditions. The method is highly scalable, and effective solutions can be obtained for several tens of autonomous agents. On the other hand, the liveness property of the policy, i.e. the capability of negotiating a solution in finite time, is not yet completely understood. In this paper, we introduce a condition on the final vehicle configurations, which we conjecture to be sufficient for guaranteeing liveness. Because of the overwhelming complexity of proving the sufficiency of such condition, we assess the correctness of the conjecture in probability through the analysis of the results of a large number of randomized experiments.</p>
10aEmbedded Control10aRobotics1 aPallottino, L.1 aScordio, V G1 aFrazzoli, E1 aBicchi, A.  uhttp://95.110.227.16/publications/probabilistic-verification-decentralized-policy-conflict-resolution-multi-agent-systems