An RRT-Based Algorithm for Testing and Validating Multi-Robot Controllers

摘要

We address the problem of testing complex reactive control systems and validating the effectiveness of multi-agent controllers. Testing and validation involve searching for conditions that lead to system failure by exploring all adversarial inputs and disturbances for errant trajectories. This problem of testing is related to motion planning, with one main difference. Unlike motion planning problems, systems are typically not controllable with respect to disturbances or adversarial inputs and therefore, the reachable set of states is a small subset of the entire state space. In both cases however, there is a goal or specification set consisting of a set of points in state space that is of interest, either for demonstrating failure or for validation.