Timed Automata based provably correct robot control

Abstract

This paper presents a feasibility study on the usage of Uppaal Timed Automata (UPTA) for deliberative level robotic control. The study is based on the Scrub Nurse Robot case-study. Our experience confirms that UPTA model based control enables the control loop to be defined and maintained during the robot operation autonomously with minimum human intervention. Specifically, in our robot architecture the control model is constructed automatically using unsupervised learning. Correctness of the model is verified on-the-fly against safety, reachability, and performance requirements. Finally, it is demonstrated that UPTA model based robot control, action planning and model updates have natural implementation based on existing model execution and conformance testing tool Uppaal Tron.

A Practical Application of UPPAAL and DTRON for Runtime Verification

“…Thus, the I/O conformance of the behavior of the IUT is observed by TRON. The feasibility of applying TRON for testing is shown in some practical case studies [13]- [15].…”

Hybrid Online Model-Based Testing for Communication-Based Train Control Systems

“…The hybrid online MBT platform consists of four main components, the SUT model, the MBT tool UPPAAL-TRON, the microscopic railway simulator, and the adapter. The SUT model is written in the format of Timed Automata [32,33] by UPPAAL, which is a modelling and verification tool based on the TA theory and it is the engine of UPPAAL-TRON. Discrete SUT behaviour is written in the model based on the specification requirement which is provided by the SUT manufacturer.…”