CCL:一种融合控制与计算的多机器人任务模型

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本文探讨了"多机器人控制与通信任务的正式模型"，通过一种名为Computation and Control Language (CCL)的严谨命令语言来描述和设计复杂的系统。CCL是一种融合了控制和计算的编程语言，其程序由一组受保护的命令构成，这些命令可以更新连续或离散变量，并且能够用一种简单的时序逻辑进行推理。作者以一个具体的机器人"RoboFlag Drill"为例，这是一个自稳定通信协议的机器人抓旗系统，其行为取决于机器人在特定环境中的行动策略。在这个案例中，CCL被用来编码一个机器人团队如何协作捕捉旗帜，同时确保通信的有效性和系统的稳定性。通信协议的设计目标是让机器人之间在复杂环境中高效地协调行动，这涉及到实时决策和适应性，以确保任务的成功执行。自稳定意味着即使在初始状态不稳定的情况下，系统也能通过自身的规则和机制恢复到预期的工作状态。研究者们关注的是如何设计出大规模的分布式系统，如多个车辆组成的车队或者自动化工厂，这些系统中的每个组件既要执行计算任务又要进行自主控制。通过CCL这样的工具，他们希望能够实现系统的整体协调，减少中央控制的依赖，提高系统的可靠性和效率。论文的结尾部分简要概述了作者们对CCL的正式语义的初始实现，将其作为一种实用的编程语言。这种实现允许开发者不仅编写控制策略，还能验证和理解其在实际应用中的行为和性能。这篇论文展示了CCL在多机器人系统设计中的潜力，以及它在理论和实践层面上对于提升复杂任务控制能力的重要性。

A Formal Model of a Multi-Robot

Control and Communication Task

Eric Klavins

Computer Science Department

California Institute of Technology, Pasadena, CA

klavins@caltech.edu

Abstract

We introduce the Computation and Control Language

(CCL), a guarded-command language for expressing

systems wherein control and computation are inter-

twined. A CCL program consists of a set of guarded

commands that may update continuous or discrete vari-

ables and that can be reasoned about using a simple

temporal logic. In this paper, a detailed case study of

a robot capture-the-ﬂag system, called the “RoboFlag

Drill”, is encoded in CCL and certain properties of it

are veriﬁed. The example consists of a self-stabilizing

communications protocol whose behavior depends on

the actions taken by the robots in their environment.

The paper concludes with a brief overview of our initial

implementation of the formal semantics of CCL as a

practical programming language.

1 Introduction

We are interested in designing large scale decentralized

systems with multiple computational and controlled el-

ements such as multi-vehicle systems or automated fac-

tories. Generally, to understand and control these sys-

tems, a combination of control, computation and com-

munication theory is needed at various diﬀerent levels.

In any non-trivial system, these seemingly separate as-

pects of system design become intermingled. The re-

sult is that, for example, the veriﬁcation of the control

part of the design depends heavily on the design of the

communications part, requiring, ideally, that these two

aspects of the design inhabit the same formalism.

For instance, the problem we consider in this paper

(Section 3.2) involves a group of robots that must de-

fend their ﬂag against a group of opponent robots in

a capture-the-ﬂag like game. Thus, each robot must

perform a low level motion control task (tracking an

opponent) and simultaneously take part in a high level

communications protocol with the other robots (to de-

cide who should track what opponent). The protocol

This research is supported in part by AFOSR grant number

F49620-01-1-0361.

we propose is self-stabilizing [6] under certain circum-

stances (explored in Section 6) that depend on the mo-

tions of the robots. The stable conﬁguration of the

protocol corresponds to a reasonable agreement among

the defending robots about who will track whom and

is important for the entire control scheme to function

correctly.

We specify this system in a formalism called the Com-

putation and Control Language (CCL). CCL is inspired

by the UNITY formalism for parallel programming [3]

but is adapted to dynamical systems and control tasks.

Simply put, a CCL program consists of a set of guarded

commands that are executed in some order at each step

in the evolution of the system. One feature of CCL is

that the dynamics of the environment are modeled by a

subset of the commands and not by separate diﬀerential

equations. The result is that the distinction between

the internal (logical) and external (physical) states of

the system under consideration is lost, allowing a single

set of tools to be used for modeling, speciﬁcation and

analysis.

The main contributions of the paper are the introduc-

tion of CCL (Section 3) including a formal description

of its semantics (Section 4) and the logic used to rea-

son about CCL programs (Section 5). The static oper-

ator (Deﬁnition 5.4) that deals with arbitrary schedules

is, in particular, new. We also present a detailed case

study of the use of CCL with a simpliﬁed version of

the above-mentioned capture-the-ﬂag system which we

both specify (Section 3.2) and verify (Section 6). Ul-

timately we intend for CCL to be used to not only for

modeling and analysis of systems but also as a pro-

gramming tool in its own right. Thus we also describe

a runtime CCL interpreter (Section 7). We begin with

a review of related work.

2 Related Work

The UNITY formalism was introduced in [3] and is used

to specify and reason about concurrent reactive systems

[13] and has been extended to real time systems [2].

Although UNITY was designed as a reasoning tool, an

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