Task level specification and formal verification of robotics control systems: State of the art and case study

Kapellos, Konstantinos; Simon, Daniel; Jourdant, M.; Espiau, Bernard

doi:10.1080/002077299291697

Cited by 7 publications

(3 citation statements)

References 43 publications

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“…There is support for verification for general languages such as C Simulink/Stateflow [30]. Early efforts on verification for robotics apply existing mathematical techniques as they are [22]. A recent comprehensive survey on specification and verification in robotics [13,27] indicates that model checking is the most popular approach at the moment.…”

Section: Related Workmentioning

confidence: 99%

“…A pioneering effort in robotics defines Orccad [22], for modelling, simulation, and programming. Translation to two different notations allows verification of timed properties.…”

Section: Related Workmentioning

confidence: 99%

“…For that, we take as specification the semantics of the RoboChart model in conjunction with a formalisation of a mapping between the RoboChart and the RoboSim events, operations, and variables, and of the cyclic execution. C3 There are other domain-specific languages (DSL) for robotics targeted at simulation [22,11,24], and generalpurpose graphical languages for simulation, notably Simulink/Stateflow [30], a de facto standard in the transport industry. Our focus with RoboSim is a customised language with notation and semantics that is vendor and platform independent, with a clear and precise semantics, and that can be used to relate design and simulation models.…”

Section: Introductionmentioning

confidence: 99%

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Verified simulation for robotics

Cavalcanti

Sampaio

Miyazawa

et al. 2019

Science of Computer Programming

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Simulation is a favoured technique for analysis of robotic systems. Currently, however, simulations are programmed in an ad hoc way, for specific simulators, using either proprietary languages or general languages like C or C++. Even when a higher-level language is used, no clear relation between the simulation and a design model is established. We describe a tool-independent notation called RoboSim, designed specifically for modelling of (verified) simulations. We describe the syntax, well-formedness conditions, and semantics of RoboSim. We also show how we can use RoboSim models to check if a simulation is consistent with a functional design written in a UML-like notation akin to those often used by practitioners on an informal basis. We show how to check whether the design enables a feasible scheduling of behaviours in cycles as needed for a simulation, and formalise implicit assumptions routinely made when programming simulations. We develop a running example and three additional case studies to illustrate RoboSim and the proposed verification techniques. Tool support is also briefly discussed. Our results enable the description of simulations using tool-independent diagrammatic models amenable to verification and automatic generation of code.

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Section: Related Workmentioning

confidence: 99%

“…A pioneering effort in robotics defines Orccad [22], for modelling, simulation, and programming. Translation to two different notations allows verification of timed properties.…”

Section: Related Workmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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