Rigorous design of robot software: A formal component-based approach

Abdellatif, Tesnim; Bensalem, Saddek; Combaz, Jacques; Silva, Lavindra de; Ingrand, Félix

doi:10.1016/j.robot.2012.09.005

Cited by 29 publications

(20 citation statements)

References 39 publications

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“…State-Transition [1], [20], [18], [25], [36], [39], [40], [41], [48], [49], [61], [62], [66], [70], [83], [88], [97], [98], [51], [99], [104], [108], [110], [111], [115], [116], [129], [141], [146], [174], [175], [182], [186] 33 0…”

Section: Property Formalismmentioning

confidence: 99%

“…Other [57], [55], [71], [138], [176] 5 [1], [20], [18], [25], [40], [41], [66], [180] 8 Table 2: Summary of the types of formalisms found in the literature for specifying the system and the properties to be checked. Note: some references appear in one half of the table but not the other because they only describe the specification of the system (or vice versa).…”

Section: Logics 6 32mentioning

confidence: 99%

“…In addition, RV-BIP [66] is a tool that produces a runtime monitor as an "additional component in a BIP system" that can check an LTS-based specification at runtime. Finally, the work in [1] provides a synthesis technique to generate robotic software from BIP models.…”

Section: Other Formalismsmentioning

confidence: 99%

“…Model-Checking [110], [123], [111], [36], [61], [62], [97], [98] [51], [89], [174], [175], [50], [70], [176], [138], [139], [43], [24], [18], [25], [1], [40], [30], [104], [71], [55], [57], [176], [114], [44], [129] 32…”

Section: References Totalmentioning

confidence: 99%

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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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Section: Property Formalismmentioning

confidence: 99%

Section: Logics 6 32mentioning

confidence: 99%

Section: Other Formalismsmentioning

confidence: 99%

Section: References Totalmentioning

confidence: 99%

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Formal Specification and Verification of Autonomous Robotic Systems

et al. 2019

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“…Component-based architecture [12] describes an approach to system design and development. It involves the decomposition of the design into individual functional or logical components.…”

Section: Component-based Architectural Stylementioning

confidence: 99%

A Review on Software Architecture Styles with Layered Robotic Software Architecture

Chavan

Murugan²,

Chavan³

2015

2015 International Conference on Computing Communication Control and Automation

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This paper provides an introduction to the field of software engineering requires facility in architectural software design. The goal is to demonstrate the current state of the discipline and examine the ways in which architectural design can impact software design. Software architecture is used to describe a high level design methodology of large software systems. It provides the overall structure of a system in an abstract and structured fashion. A smart architectural demonstration holds the key to the effectiveness of a software architecture description and usage. This paper focuses on criterion to select appropriate architecture style for software system. It also gives overview of definition, goals and requirements of software architecture with various architecture styles, their benefits and applications. The authors have also described the requirements and goals of robotic software architecture. The proposal for layered robotic software architecture for a distributed system is also presented.

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