Verification of Behaviour Networks Using Finite-State Automata

Abstract

Abstract. This paper addresses the problem of verifying properties of behaviour-based systems used for controlling robots. A behaviour-based system typically consists of many interconnected components, the behaviours, which in combination realise the system's overall functionality. The connections between the behaviours are crucial for the correct operation of a system. Therefore, key properties of behaviour-based systems are verifiable based on their behaviour interconnections. In this paper, it is described how behaviour-based networks can be (automatically) modelled using finite-state machines and how model checking with the Uppaal toolbox can then be applied for verification and analysis tasks.

Tool-assisted verification of behaviour networks

“…The synchronous before property states that t src has to hold at least once before each occurrence of t dst . Additionally, the two are allowed to start holding 4 at the same time (→ "synchronous"). Figure 5 shows a corresponding timing diagram.…”

“…In order to model a complete network, an automated process traverses all behaviours and their connections in a given network and creates the automata with the correct synchronisation channels. Detailed information about the modelling of iB2C networks as networks of synchronised automata can be found in [4]. …”

“…It realises an autonomous excavation process that includes scanning the environment, digging through the soil, dumping the spoil, and moving between the different positions. The FSM has been transformed into a network of around 20 interconnected behaviours as described in [18]. Basically, the transformation algorithm generates a CBS for each state, which is active if and only if the system is in this particular state.…”

“…Following certain design methodologies (see [3]), behaviour networks are developed and integrated into the control systems of robots. In [4], an approach for modelling behaviour networks as networks of finite-state automata and the application of model checking for verification have already been described. However, the processes of defining queries for the model checker and analysing the resulting traces were purely manual, which made them tedious and error-prone.…”