Specification Patterns for Robotic Missions

  1. Fair Patrolling

    Given a set of areas the robot(s) should repeatedly visit all areas in a fair way.

  2. Ordered Patrolling

    Given a set of locations the robot should repeatedly visit all areas following a given order.

  3. Sequenced Patrolling

    Given a set of locations the robot should repeatedly visit all the locations in sequence.

  4. Strict Ordered Patrolling

    A robot must patrol a set of locations following a strict order.