{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,10]],"date-time":"2026-06-10T14:30:57Z","timestamp":1781101857937,"version":"3.54.1"},"reference-count":46,"publisher":"IGI Global Scientific Publishing","issue":"1","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2018,1,1]]},"abstract":"<p>A humanoid robot is inherently complex due to the heterogeneity of accessory devices and to the interactions of various interfaces, which will be exponentially increased in multiple robotics collaboration. Therefore, the design and implementation of multiple humanoid robotics (MHRs) remains a very challenging issue. It is known that formal methods provide a rigorous analysis of the complexity in both design of control and implementation of systems. This article presents an agent-based framework of formal modeling on the design of communication and control strategies of a team of autonomous robotics, to attain the specified tasks in a coordinated manner. To ensure a successful collaboration of multiple robotics, this formal agent-based framework captures behaviors in Petri Net models and specifies collaboration operations in four defined operations. To validate the framework, a non-trivial soccer bot set was implemented and simulation results were discussed.<\/p>","DOI":"10.4018\/ijrat.2018010103","type":"journal-article","created":{"date-parts":[[2018,7,6]],"date-time":"2018-07-06T07:59:01Z","timestamp":1530863941000},"page":"34-54","source":"Crossref","is-referenced-by-count":0,"title":["Formal Modeling and Analysis of Collaborative Humanoid Robotics"],"prefix":"10.4018","volume":"6","author":[{"given":"Yujian","family":"Fu","sequence":"first","affiliation":[{"name":"Alabama A&M University, Normal, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhijiang","family":"Dong","sequence":"additional","affiliation":[{"name":"Middle Tennessee State University, Murfreesboro, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Xudong","family":"He","sequence":"additional","affiliation":[{"name":"Florida International University, Miami, USA"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"2432","reference":[{"key":"IJRAT.2018010103-0","doi-asserted-by":"publisher","DOI":"10.1109\/100.667325"},{"key":"IJRAT.2018010103-1","doi-asserted-by":"publisher","DOI":"10.4018\/IJRAT.2014070104"},{"key":"IJRAT.2018010103-2","article-title":"Realizing automatic penalty kick in Bioloid robot.","author":"H.Ayala","year":"2014","journal-title":"Proceedings of the IEEE Southeast Regional Conference"},{"key":"IJRAT.2018010103-3","doi-asserted-by":"publisher","DOI":"10.1109\/ICSTCC.2016.7790670"},{"key":"IJRAT.2018010103-4","author":"P.Bonet","year":"2007","journal-title":"PIPE v2.5: a Petri Net tool for performance modeling"},{"key":"IJRAT.2018010103-5","doi-asserted-by":"publisher","DOI":"10.1109\/ROBOT.1999.772530"},{"key":"IJRAT.2018010103-6","doi-asserted-by":"publisher","DOI":"10.1109\/ICDMA.2010.33"},{"key":"IJRAT.2018010103-7","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2012.6225257"},{"key":"IJRAT.2018010103-8","doi-asserted-by":"publisher","DOI":"10.1109\/87.799666"},{"key":"IJRAT.2018010103-9","doi-asserted-by":"publisher","DOI":"10.1109\/87.799667"},{"key":"IJRAT.2018010103-10","doi-asserted-by":"publisher","DOI":"10.1109\/HASE.2014.19"},{"key":"IJRAT.2018010103-11","doi-asserted-by":"publisher","DOI":"10.1109\/CoDIT.2016.7593580"},{"key":"IJRAT.2018010103-12","article-title":"Formal modeling and analysis of autonomous robotics systems using Z.","author":"Y.Fu","year":"2010","journal-title":"Proceedings of the International Conference on Software Engineering and Practice"},{"key":"IJRAT.2018010103-13","unstructured":"GitHub. 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