Fault-tolerant distributed algorithms and realistic models for groups of autonomous mobile robots

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This research aims at improving the development of fault-tolerant and reliable multi-robots systems. In particular, this includes relating formal models developed in the field of fault-tolerant distributed systems to the problem of mobile robot coordination. The purpose of such a model is to study the correctness of algorithms and identify the minimum capabilities (i.e., set of sensors) that the individual robots must have in order to reliably solve a given problem as a group. At the same time, it is essential that both model and problem be practically accurate so that results are directly applicable to real systems.In particular, we have obtained important results for several problems, among which,(1) gathering of robots when some robots or their sensors may fail, (2) exploration of a discrete environment, (3) motion planning of multiple-robots, and (4) cascading failures in large systems.