{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T10:01:53Z","timestamp":1777716113098,"version":"3.51.4"},"reference-count":35,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[2011,5,1]],"date-time":"2011-05-01T00:00:00Z","timestamp":1304208000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":["journals.sagepub.com"],"crossmark-restriction":true},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2011,5]]},"abstract":"<jats:p>Large collections of simple, interacting robots can be difficult to program due to issues of concurrency and intermittent, probabilistic failures. Here, we present Guarded Command Programming with Rates , a formal framework for programming such multi-robot systems. Within this framework, we model robot behavior as a stochastic process and express concurrency and program composition using simple operations. In particular, we show how composition and other operations on programs can be used to specify increasingly complex behaviors of multi-robot systems and how stochasticity can be used to create programs that can tolerate failure of individual robots. Finally, we demonstrate our approach by encoding algorithms for routing parts in an abstract model of the Stochastic Factory Floor testbed (Galloway et al. 2010).<\/jats:p>","DOI":"10.1177\/0278364911403018","type":"journal-article","created":{"date-parts":[[2011,5,10]],"date-time":"2011-05-10T10:33:43Z","timestamp":1305023623000},"page":"713-729","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":20,"title":["A compositional framework for programming stochastically interacting robots"],"prefix":"10.1177","volume":"30","author":[{"given":"Nils","family":"Napp","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering, University of Washington, Seattle, WA, USA,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Eric","family":"Klavins","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering, University of Washington, Seattle, WA, USA"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2011,5,10]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1109\/JPROC.2002.805817"},{"key":"atypb2","volume-title":"ASME Mechanisms and Robotics Conference","author":"Ayanian N."},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1109\/70.736776"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2024997"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4612-0619-4"},{"key":"atypb6","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Burden S."},{"key":"atypb7","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2009.2020173"},{"key":"atypb8","volume-title":"Model Checking","author":"Clarke, EM Jr","year":"1999"},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1145\/360933.360975"},{"key":"atypb10","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Galloway K."},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1146\/annurev.physchem.58.032806.104637"},{"key":"atypb12","doi-asserted-by":"publisher","DOI":"10.1007\/3-540-46430-1_17"},{"key":"atypb13","doi-asserted-by":"publisher","DOI":"10.1109\/MCS.2007.384126"},{"key":"atypb14","volume-title":"Proceedings of Robotics: Science and Systems II","author":"Klavins E."},{"key":"atypb15","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Klavins E."},{"key":"atypb16","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.2000.845244"},{"key":"atypb17","doi-asserted-by":"publisher","DOI":"10.1109\/MPRV.2004.1269132"},{"key":"atypb18","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2006.889492"},{"key":"atypb19","volume-title":"Proceedings of IEEE International Symposium on Computer Aided Control System Design","author":"Koo T."},{"key":"atypb20","volume-title":"Proceedings IEEE International Conference on Automation Science and Engineering CASE 2008","author":"Kress-Gazit H."},{"key":"atypb21","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2009.2030225"},{"key":"atypb22","doi-asserted-by":"publisher","DOI":"10.1007\/s10009-004-0140-2"},{"key":"atypb23","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Matthey L."},{"key":"atypb24","volume-title":"Proceedings of IEEE Conference on Decision and Control","author":"McNew JM"},{"key":"atypb25","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.2007.911361"},{"key":"atypb26","volume-title":"Proceedings of Robotics: Science and Systems","author":"Napp N."},{"key":"atypb27","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Napp N."},{"key":"atypb28","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-008-9107-6"},{"key":"atypb29","unstructured":"Stroock DW ( 2005) An Introduction to Markov Processes, 1st edition (Graduate Texts in Mathematics). 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