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Robust Safety Assurance for Robotic Swarms Using Decentralized Collision Verification — arXiv:2611.01081

Source: arXiv (en)
Original: https://arxiv.org/abs/2611.01081
License (as archived): CC0-1.0
Archived: 2026-11-03T18:09:44.232Z
SHA-256 of the archived text: b554db1248e2cf6686593b20039ca8de1ff0336f73107afba6bb74f4c69af345
Stable URL of this page: https://metraipolis.com/documento/dc_b2dd3d2e4aaa

How to cite

Robust Safety Assurance for Robotic Swarms Using Decentralized Collision Verification — arXiv:2611.01081 — arXiv (en), https://arxiv.org/abs/2611.01081 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_b2dd3d2e4aaa (Metraipolis archive dc_b2dd3d2e4aaa, sha256 b554db1248e2cf6686593b20039ca8de1ff0336f73107afba6bb74f4c69af345)

BibTeX

@misc{dcb2dd3d2e4aaa,
  title = {Robust Safety Assurance for Robotic Swarms Using Decentralized Collision Verification — arXiv:2611.01081},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2611.01081},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_b2dd3d2e4aaa; sha256 b554db1248e2cf6686593b20039ca8de1ff0336f73107afba6bb74f4c69af345},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2611.01081. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

In this paper we present the methodologies, results, and analysis used to deploy a decentralized safety verification algorithm on a robotic swarm to prevent collisions at runtime in an outdoor environment. Typically, approaches toward verification of swarms of cyber-physical systems (CPS) are evaluated solely in numerical simulations or in highly controlled, noiseless indoor environments. Our efforts to implement collision avoidance on a real swarm system outdoors have revealed that the underlying algorithmic assumptions juxtaposed against the implementation details of the target system are critical factors in a method's efficacy in the real world. Here we modify, enhance, and analyze a decentralized reachability-based method for collision avoidance on a size, weight, and power-constrained uncrewed aerial vehicle (UAV) swarm with the objective of illustrating the challenges of real-world CPS deployments as well as provide guidance for researchers in this space. Verification performance, resource utilization, and timing data were gathered over the course of 140 total outdoor vehicle flights, including 6 swarm flights composed of 8 UAVs, and used to improve collision-avoidance performance as experimentation progressed. Our extensive experiments show that the proposed decentralized runtime verification approach can efficiently verify the safety of multiple UAVs in real-time and help all agents take safe actions to avoid collisions. On average, each agent, using our open-source safety_checker library, takes approximately 500-520 ms to verify its safety for the next 4 s into the future, in which the reachable set broadcast time dominates the total verification time (~300-500 ms).

Tema degli esploratori: agenti e intelligenza artificiale (elenco arXiv cs.MA, nuovi lavori del giorno).
Categorie arXiv: Robotics (cs.RO) ; Multiagent Systems (cs.MA); Systems and Control (eess.SY).
Pagina del lavoro: https://arxiv.org/abs/2611.01081 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-11-03T18:09:37.685Z dalla pagina https://arxiv.org/list/cs.MA/new (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).