Modelling and Verification of Timed Robotic Controllers

  • Pedro RibeiroEmail author
  • Alvaro Miyazawa
  • Wei Li
  • Ana Cavalcanti
  • Jon Timmis
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10510)


Designing robotic systems can be very challenging, yet controllers are often specified using informal notations with development driven primarily by simulations and physical experiments, without relation to abstract models of requirements. The ability to perform formal analysis and replicate results across different robotic platforms is hindered by the lack of well-defined formal notations. In this paper we present a timed state-machine based formal notation for robotics that is informed by current practice. We motivate our work with an example from swarm robotics and define a compositional CSP-based discrete timed semantics suitable for refinement. Our results support verification and, importantly, enable rigorous connection with sound simulations and deployments.


Semantics Refinement Process algebra CSP Robotics 



This work is funded by EPSRC grant EP/M025756/1. No new primary data was created during this study.


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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  • Pedro Ribeiro
    • 1
    Email author
  • Alvaro Miyazawa
    • 1
  • Wei Li
    • 2
  • Ana Cavalcanti
    • 1
  • Jon Timmis
    • 2
  1. 1.Department of Computer ScienceUniversity of YorkYorkUK
  2. 2.Department of Electronic EngineeringUniversity of YorkYorkUK

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