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Model Checking Real-Time Properties on the Functional Layer of Autonomous Robots

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Formal Methods and Software Engineering (ICFEM 2016)

Part of the book series: Lecture Notes in Computer Science ((LNPSE,volume 10009))

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Abstract

Software is an essential part of robotic systems. As robots and autonomous systems are more and more deployed in human environments, we need to use elaborate validation and verification techniques in order to gain a higher level of trust in our systems. This motivates our determination to apply formal verification methods to robotics software. In this paper, we describe our results obtained using model-checking on the functional layer of an autonomous robot. We implement an automatic translation from GenoM, a robotics model-based software engineering framework, to the formal specification language Fiacre. This translation takes into account the semantics of the robotics middleware. TINA, our model-checking toolbox, can be used on the synthesized models to prove real-time properties of the functional modules implementation on the robot. We illustrate our approach using a realistic autonomous navigation example.

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Notes

  1. 1.

    https://git.openrobots.org/projects/openprs.

  2. 2.

    https://www.openrobots.org/wiki/eltclsh.

  3. 3.

    Codels (code elements) are the programmer implementation of the specified service, broken down to small chunks of C or C++ code.

  4. 4.

    https://git.openrobots.org/projects/pocolibs/gollum/index.

  5. 5.

    http://rmp.segway.com/tag/rmp400/.

  6. 6.

    The template still provides the user with the possibility to specify their hardware constraints.

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Acknowledgement

This work was supported in part by the EU CPSE Labs project funded by the H2020 program under grant agreement No. 644400.

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Authors and Affiliations

  1. CNRS, LAAS, 7 Avenue du Colonel Roche, F-31400, Toulouse, France

    Mohammed Foughali, Bernard Berthomieu, Silvano Dal Zilio, Félix Ingrand & Anthony Mallet

  2. Univ. de Toulouse, LAAS, F-31400, Toulouse, France

    Mohammed Foughali, Bernard Berthomieu, Silvano Dal Zilio, Félix Ingrand & Anthony Mallet

Authors
  1. Mohammed Foughali
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  2. Bernard Berthomieu
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  3. Silvano Dal Zilio
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  4. Félix Ingrand
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  5. Anthony Mallet
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Corresponding author

Correspondence to Mohammed Foughali .

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Editors and Affiliations

  1. School of Information Science, Japan Advanced Institute of Science and Technology (JAIST), Nomi, Japan

    Kazuhiro Ogata

  2. Department of Computing and Software, McMaster University, Hamilton, Ontario, Canada

    Mark Lawford

  3. Department of Computer Science, Hosei University, Tokyo, Japan

    Shaoying Liu

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Foughali, M., Berthomieu, B., Dal Zilio, S., Ingrand, F., Mallet, A. (2016). Model Checking Real-Time Properties on the Functional Layer of Autonomous Robots. In: Ogata, K., Lawford, M., Liu, S. (eds) Formal Methods and Software Engineering. ICFEM 2016. Lecture Notes in Computer Science(), vol 10009. Springer, Cham. https://doi.org/10.1007/978-3-319-47846-3_24

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  • DOI: https://doi.org/10.1007/978-3-319-47846-3_24

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