- In this paper, we present an approach to support
transaction-based spatial-temporal programming of mobile robot
swarms on a systemic level. We introduce a programming model
for swarms of mobile robots. Swarm applications consist of
concurrent, distributed and context-aware actions. We provide
distributed transactions in order to guarantee atomic execution of
a set of dependent actions. We distinguish between schedulability
and executability of a set of actions. In order to guarantee exe-
cutability of a distributed transaction of spatial-temporal actions,
we present the concept of path alternatives and a time-based two-
phase commit protocol in order to assure consistency. We show
the feasibility of our approach by a proof-of-concept.