2017
DOI: 10.1007/978-3-319-66845-1_2
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Modelling and Verification of Timed Robotic Controllers

Abstract: Designing robotic systems can be very challenging, yet controllers are often specified using informal notations with development driven primarily by simulations and physical experiments, without relation to abstract models of requirements. The ability to perform formal analysis and replicate results across different robotic platforms is hindered by the lack of well-defined formal notations. In this paper we present a timed state-machine based formal notation for robotics that is informed by current practice. W… Show more

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Cited by 12 publications
(9 citation statements)
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References 29 publications
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“…These are model-driven approaches, intended for use in modelfirst environments, where parts of source code are automatically generated. Our proposal lacks the formal specification of properties, supported by model checking, that can be found in approaches using G en oM [7] or RoboChart [8], [9], for instance. On the other hand, our metamodel is much closer to the implementation level, in terms of abstraction, and entirely compatible with a code-first development process (currently, the norm in ROS development) through static analysis.…”
Section: Related Workmentioning
confidence: 99%
“…These are model-driven approaches, intended for use in modelfirst environments, where parts of source code are automatically generated. Our proposal lacks the formal specification of properties, supported by model checking, that can be found in approaches using G en oM [7] or RoboChart [8], [9], for instance. On the other hand, our metamodel is much closer to the implementation level, in terms of abstraction, and entirely compatible with a code-first development process (currently, the norm in ROS development) through static analysis.…”
Section: Related Workmentioning
confidence: 99%
“…A more complete description of RoboChart is available in [31,39], and in the reference manual [47]. Its core concepts (state machines, time budgets, and so on) are common to cyber-physical systems in general.…”
Section: Robochart and The Need For Robosimmentioning
confidence: 99%
“…This case study involves a robot that performs a square trajectory, trying to avoid possible obstacles. We consider the RoboChart model from [39], reproduced here in Figure 15.…”
Section: Squarementioning
confidence: 99%
“…Similarly, [Desai et al, 2017] proposes Drona, to perform model checking and runtime verification to check and enforce some other properties on a model using a Signal Temporal Logic. RoboChart [Cavalcanti, 2017;Miyazawa et al, 2017;Ribeiro et al, 2017] proposes an interesting approach where the programmer explicitly model the robotics application in a formal framework based on timed communicating sequential process. So the model is provided by the programmer not automatically extracted from the framework as we will see on an example in the next section.…”
Section: Leveraging Robotic Tools and Development Frameworkmentioning
confidence: 99%