www.prismmodelchecker.org
[LP20b] Alessio Lomuscio and Edoardo Pirovano. Verifying Fault-Tolerance in Probabilistic Swarm Systems. In Proc. 29th International Joint Conference on Artificial Intelligence (IJCAI'20), pages 325-331. 2020. [Presents techniques for formally analysing fault-tolerance in unbounded robotic swarms, with an implementation that builds on PRISM.]
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