An Adaptive Goal-Based Model for Autonomous Multi-Robot Using HARMS and NuSMV

In a dynamic environment autonomous robots often encounter unexpected situations that the robots have to deal with in order to continue proceeding their mission. We propose an adaptive goal-based model that allows cyber-physical systems (CPS) to update their environmental model and helps them analyze for attainment of their goals from current state using the updated environmental model and its capabilities. Information exchange approach utilizes Human-Agent-Robot-Machine-Sensor (HARMS) model to exchange messages between CPS. Model validation method uses NuSMV, which is one of Model Checking tools, to check whether the system can continue its mission toward the goal in the given environment. We explain a practical set up of the model in a situation in which homogeneous robots that has the same capability work in the same environment.