Formal Development and Assessment of a Reconfigurable On-board Satellite System

Tarasyuk, Anton; Pereverzeva, Inna; Troubitsynå, Elena; Latvala, Timo; Nummila, Laura

doi:10.1007/978-3-642-33678-2_18

Cited by 23 publications

(11 citation statements)

References 12 publications

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“…It is therefore clear that the use of iFM can help to mediate the issues surrounding the development of robotic systems as has been illustrated by the following bespoke examples. We outlined the importance of reconfigurable systems in §2.4, and a combination of Event-B and the PRISM model-checker has been used to derive a reconfigurable architecture for an on-board satellite system [32]. The combination of these formal notations allows not only for the formal specification and derivation (via refinement) of the system in Event-B, but also the probabilistic assessment of its reliability and performance using PRISM.…”

Section: Adopting Ifm For Roboticsmentioning

confidence: 99%

Robotics and Integrated Formal Methods: Necessity Meets Opportunity

Farrell

Luckcuck

Fisher

2018

Lecture Notes in Computer Science

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Robotic systems are multi-dimensional entities, combining both hardware and software, that are heavily dependent on, and influenced by, interactions with the real world. They can be variously categorised as embedded, cyberphysical, real-time, hybrid, adaptive and even autonomous systems, with a typical robotic system being likely to contain all of these aspects. The techniques for developing and verifying each of these system varieties are often quite distinct. This, together with the sheer complexity of robotic systems, leads us to argue that diverse formal techniques must be integrated in order to develop, verify, and provide certification evidence for, robotic systems. Furthermore, we propose the fast evolving field of robotics as an ideal catalyst for the advancement of integrated formal methods research, helping to drive the field in new and exciting directions and shedding light on the development of large-scale, dynamic, complex systems.

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Section: Adopting Ifm For Roboticsmentioning

confidence: 99%

Robotics and Integrated Formal Methods: Necessity Meets Opportunity

Farrell

Luckcuck

Fisher

2018

Lecture Notes in Computer Science

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“…Event-B specifications have been combined with probabilistic properties to derive reconfigurable architectures for an on-board satellite system (Tarasyuk et al, 2012). This work uses PRISM to check for both the derivation (via formal refinement) of the system from its specification and the probabilistic assessment of their reliability and performance.…”

Section: Related Workmentioning

confidence: 99%

Formal Modelling and Runtime Verification of Autonomous Grasping for Active Debris Removal

et al. 2022

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Active debris removal in space has become a necessary activity to maintain and facilitate orbital operations. Current approaches tend to adopt autonomous robotic systems which are often furnished with a robotic arm to safely capture debris by identifying a suitable grasping point. These systems are controlled by mission-critical software, where a software failure can lead to mission failure which is difficult to recover from since the robotic systems are not easily accessible to humans. Therefore, verifying that these autonomous robotic systems function correctly is crucial. Formal verification methods enable us to analyse the software that is controlling these systems and to provide a proof of correctness that the software obeys its requirements. However, robotic systems tend not to be developed with verification in mind from the outset, which can often complicate the verification of the final algorithms and systems. In this paper, we describe the process that we used to verify a pre-existing system for autonomous grasping which is to be used for active debris removal in space. In particular, we formalise the requirements for this system using the Formal Requirements Elicitation Tool (FRET). We formally model specific software components of the system and formally verify that they adhere to their corresponding requirements using the Dafny program verifier. From the original FRET requirements, we synthesise runtime monitors using ROSMonitoring and show how these can provide runtime assurances for the system. We also describe our experimentation and analysis of the testbed and the associated simulation. We provide a detailed discussion of our approach and describe how the modularity of this particular autonomous system simplified the usually complex task of verifying a system post-development.

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“…In [165], Event-B specifications are combined with probabilistic properties to derive reconfigurable architectures for an on-board satellite system. Event-B evolved from the B-Method and is more suitable to modelling the dynamic behaviour of a system than its predecessor [2].…”

Section: Set-based Formalismsmentioning

confidence: 99%

Formal Specification and Verification of Autonomous Robotic Systems

et al. 2019

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Autonomous robotic systems are complex, hybrid, and often safety-critical; this makes their formal specification and verification uniquely challenging. Though commonly used, testing and simulation alone are insufficient to ensure the correctness of, or provide sufficient evidence for the certification of, autonomous robotics. Formal methods for autonomous robotics has received some attention in the literature, but no resource provides a current overview. This paper systematically surveys the state-of-the-art in formal specification and verification for autonomous robotics. Specially, it identifies and categorises the challenges posed by, the formalisms aimed at, and the formal approaches for the specification and verification of autonomous robotics. Introduction, Methodology and Related WorkAn autonomous system is an artificially intelligent entity that makes decisions in response to input, independent of human interaction. Robotic systems are physical entities that interact with the physical world. Thus, we consider an autonomous robotic system as a machine that uses Artificial Intelligence (AI), has a physical presence in and interacts with the real world. They are complex, inherently hybrid, systems, combining both hardware and software; they often require close safety, legal, and ethical consideration. Autonomous robotics are increasingly being used in commonplace-scenarios, such as driverless cars [68], pilotless aircraft [176], and domestic assistants [174,60].While for many engineered systems, testing, either through real deployment or via simulation, is deemed sufficient; the unique challenges of autonomous robotics, their dependence on sophisticated software control and decision-making, and their increasing deployment in safety-critical scenarios, require a stronger form of verification. This leads us towards using formal methods, which are mathematically-based techniques for the specification and verification of software systems, to ensure the correctness of, and provide sufficient evidence for the certification of, robotic systems.We contribute an overview and analysis of the state-of-the-art in formal specification and verification of autonomous robotics. §1.1 outlines the scope, research questions and search criteria for our survey. §1.2 describes related work concerning formal methods for robotics and differentiates them from our work. We recognise the important role that middleware architectures and, non-and semi-formal techniques have in the development of reliable robotics and we briefly summarise some of these techniques in §2. The specification and verification challenges raised by autonomous robotic systems are discussed next: §3 describes the challenges of their context (the external challenges) and §4 describes the challenges of their organisation (the internal challenges). §5 discusses the formalisms used in the literature for specification and verification of autonomous robotics. §6 characterises the approaches to formal specification and verification of autonomous robotics found in the li...

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Formal Development and Assessment of a Reconfigurable On-board Satellite System

Cited by 23 publications

References 12 publications

Robotics and Integrated Formal Methods: Necessity Meets Opportunity

Robotics and Integrated Formal Methods: Necessity Meets Opportunity

Formal Modelling and Runtime Verification of Autonomous Grasping for Active Debris Removal

Formal Specification and Verification of Autonomous Robotic Systems

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