Modelling and Model-Checking a ROS2 Multi-Robot System using Timed Rebeca

arXiv:2511.15227 · cs.RO, cs.SE · Submitted 2025-11-19 · Read on arXiv

cs.RO, cs.SE

Submitted: 2025-11-19

Updated: 2026-10-02

Code: https://github.com/thhiep/ros2rebeca_model

Project page: https://osrf.github.io/ros2multirobotbook/ros2_

Terminology

• Verification — 44× in this paper · explained in 2 episodes
• Actor — 25× in this paper · explained in 3 episodes
• Abstraction — 17× in this paper · explained in 1 episode
• Accuracy — 8× in this paper · explained in 1 episode
• Formal Verification — 8× in this paper · explained in 2 episodes
• Alignment — 5× in this paper · explained in 1 episode
• Trace — 5× in this paper · explained in 2 episodes
• Consistency — 4× in this paper · explained in 3 episodes
• Formal Methods — 4× in this paper · explained in 3 episodes
• Multi-Agent System — 4× in this paper · explained in 5 episodes
• Fidelity — 3× in this paper · explained in 2 episodes
• Core — 2× in this paper · explained in 2 episodes
• Motion Primitives — 2× in this paper · explained in 2 episodes
• Robot Operating System — 2× in this paper
• Semantic Alignment — 2× in this paper · explained in 3 episodes
• Allocator — 1× in this paper · explained in 1 episode
• Physical Constraints — 1× in this paper · explained in 7 episodes
• Unified Framework — 1× in this paper · explained in 5 episodes

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