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Formally Verified Animation for RoboChart Using Interaction Trees

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Formal Methods and Software Engineering (ICFEM 2022)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 13478))

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Abstract

RoboChart is a core notation in the RoboStar framework. It is a timed and probabilistic domain-specific and state machine based language for robotics. RoboChart supports shared variables and communication across entities in its component model. It has a formal denotational semantics given in CSP. Interaction Trees (ITrees) is a semantic technique to represent behaviours of reactive and concurrent programs interacting with their environments. Recent mechanisations of ITrees along with ITree-based CSP semantics and a Z mathematical toolkit in Isabelle/HOL bring new applications of verification and animation for state-rich process languages, such as RoboChart. In this paper, we use ITrees to give RoboChart a novel operational semantics, implement it in Isabelle, and use Isabelle’s code generator to generate verified and executable animations. We illustrate our approach using an autonomous chemical detector model. With animation, we show two concrete scenarios when the robot encounters different environmental inputs.

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Notes

  1. 1.

    https://robostar.cs.york.ac.uk.

  2. 2.

    https://robostar.cs.york.ac.uk/robotool/.

  3. 3.

    https://robostar.cs.york.ac.uk/case_studies/autonomous-chemical-detector/autonomous-chemical-detector.html.

  4. 4.

    https://cocotec.io/fdr/.

  5. 5.

    https://github.com/isabelle-utp/Z_Toolkit.

  6. 6.

    In the Isabelle code, we include suffixes to ensure that names do not collide, but omit them here.

  7. 7.

    https://kframework.org/.

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Acknowledgements

This work is funded by the EPSRC projects CyPhyAssure (https://www.cs.york.ac.uk/circus/CyPhyAssure/, Grant EP/S001190/1), RoboCalc (Grant EP/M025756/1), and RoboTest (Grant EP/R025479/1). The icons used in RoboChart have been made by Sarfraz Shoukat, Freepik, Google, Icomoon and Madebyoliver from www.flaticon.com, and are licensed under CC 3.0 BY.

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  1. University of York, York, UK

    Kangfeng Ye, Simon Foster & Jim Woodcock

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  1. Kangfeng Ye
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Correspondence to Kangfeng Ye .

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  1. Complutense University of Madrid, Madrid, Spain

    Adrian Riesco

  2. East China University of Science and Technology, Shanghai, China

    Min Zhang

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Ye, K., Foster, S., Woodcock, J. (2022). Formally Verified Animation for RoboChart Using Interaction Trees. In: Riesco, A., Zhang, M. (eds) Formal Methods and Software Engineering. ICFEM 2022. Lecture Notes in Computer Science, vol 13478. Springer, Cham. https://doi.org/10.1007/978-3-031-17244-1_24

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  • DOI: https://doi.org/10.1007/978-3-031-17244-1_24

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