Abstract
Intelligent robots are autonomous and are used in environments where human interaction is hazardous or impossible. Verification of software for intelligent robots is mandatory because in situations where intelligent robots are employed online, error recovery is almost impossible. In this paper, we provide a formal framework for offline verification of software used in robotic applications. The specification enables one to design a robotic agent which represents a class of real-life robots. Forward and inverse kinematic operations of the robotic agent are specified using the specification for rigid solids and their primitive operations. An object-oriented design of the robotic agent derived from the specifications is given. We use the specification technique VDM for our purpose.
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This work was partially supported by FCAR, Quebec and NSERC, Canada.
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Periyasamy, K., Alagar, V.S. & Bui, T.D. A formal framework for design and verification of robotic agents. J Intell Robot Syst 8, 173–200 (1993). https://doi.org/10.1007/BF01257994
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DOI: https://doi.org/10.1007/BF01257994