Robust Safety Assurance for Robotic Swarms Using Decentralized Collision Verification
Robust Safety Assurance for Robotic Swarms Using Decentralized Collision Verification
This paper presents a decentralized safety verification algorithm deployed on an outdoor robotic swarm to prevent collisions in real time. The authors modify and enhance a reachability-based method for collision avoidance on size, weight, and power-constrained uncrewed aerial vehicle (UAV) swarms. Experiments were conducted over 140 total outdoor vehicle flights, including six swarm flights composed of eight UAVs. On average, each agent using the open-source safety_checker library takes approximately 500-520 ms to verify its safety for the next 4 seconds into the future, with the reachable set broadcast time dominating the total verification time (~300-500 ms). The study illustrates challenges in real-world CPS deployments and provides guidance for researchers.
The authors present a decentralized runtime verification algorithm tested on an outdoor UAV swarm, reporting average verification times of 500–520 ms per agent over 140 flights including six multi-agent missions.
Source: arXiv Robotics — research abstracts · Read original article ↗
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What the source reports
Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.
Reported numbers
verification_time_ms
500–520
View original evidence
erimentation 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
Open source S5broadcast_time_ms
300–500
View original evidence
set broadcast time dominates the total verification time (~300-500 ms).
Open source S6flight_count
140
Reported trials
View original evidence
strained 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 exp
Open source S4swarm_flight_count
6
Reported trials
View original evidence
strained 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 exp
Open source S4future_horizon_s
4
View original evidence
erimentation 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
Open source S5
- paper: not_reported
- weights: not_reported
- dataset: not_reported
- code: not_reported
Source excerpts and review record
Automatically extracted; no manual editorial approval recorded.
arXiv:2611.01081v1 Announce Type: new Abstract: 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 i
Open source S2
erimentation 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
Open source S5
set broadcast time dominates the total verification time (~300-500 ms).
Open source S6
strained 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 exp
Open source S4
Source：arXiv Robotics — research abstracts · arxiv.org