Toward a Correct-and-Scalable Verification of Concurrent Robotic Systems: Insights on Formalisms and Tools

Lecture Notes in Computer Science

Ingrand

Seceleanu

2019

Self Cite

Failure of robotic software may cause catastrophic damages. In order to establish a higher level of trust in robotic systems, formal methods are often proposed. However, their applicability to the functional layer of robots remains limited because of the informal nature of specifications, their complexity and size. In this paper, we formalize the robotic framework G en oM3 and automatically translate its components to UPPAAL-SMC, a real-time statistical model checker. We apply our approach to verify properties of interest on a real-world autonomous drone navigation that does not scale with regular UPPAAL.

Section: Model Checkingmentioning

confidence: 69%

Section: Discussionmentioning

confidence: 99%

Section: Case Studymentioning

confidence: 99%

Section: Timed Transition Systemsmentioning

confidence: 99%

See 2 more Smart Citations

Statistical Model Checking of Complex Robotic Systems

Lecture Notes in Computer Science

Ingrand

Seceleanu

2019

Self Cite

“…how, when, and how often activities are executed by their respective tasks. For more details, we refer the interested reader to [13] and [14].…”

Section: Components Each Component Is Organized As Shown Inmentioning

confidence: 99%

Formal verification of complex robotic systems on resource-constrained platforms

Proceedings of the 6th Conference on Formal Methods in Software Engineering

Berthomieu

Zilio

et al. 2018

Self Cite

Software constitutes a major part of the development of robotic and autonomous systems and is critical to their successful deployment in our everyday life. Robotic software must thus run and perform as specified. Since most of these systems are used in a hard real-time context, the schedulability of their tasks is a crucial property. In this work, we propose to use formal methods to check whether the tasks of a robotic application are schedulable with respect to a given hardware platform. For this, we automatically translate functional components specified in GenoM into FIACRE, a formal language for timed systems. The generated models integrate realistic real-time schedulers based on the FCFS and the SJF cooperative policies. We use then the model-checker TINA to assert schedulability properties. We carry out experiments on a real robotic system, namely a quadcopter flight controller. We demonstrate that, on its actual hardware, schedulability properties can be formally expressed and verified. We give examples on how we can check other important behavioral and timed properties on the same synthesized models.

On Reconciling Schedulability Analysis and Model Checking in Robotics

Communications in Computer and Information Science

2019

Self Cite

The challenges of deploying robots and autonomous vehicles call for further efforts to bring the real-time systems and the formal methods communities together. In this paper, we discuss the practicality of paramount model checking formalisms in implementing dynamic-priority-based cooperative schedulers, where capturing the waiting time of tasks has a major impact on scalability. Subsequently, we propose a novel technique that alleviates such an impact, and thus enables schedulability analysis and verification of real-time/behavioral properties within the same model checking framework, while taking into account hardware and OS specificities. The technique is implemented in an automatic translation from a robotic framework to UPPAAL, and evaluated on a real robotic example.