A Straightforward Algorithm to Transform Robot Control State Machines into Verifiable Lotos Specifications
Formal methods have exhibited as a promising technique that provides verifiable specifications for highly reliable software. However from the practical robotics perspective, formal methods remain unaccustomed among real-world robotic control software projects. The underlying reason is the unreasonable fear in working with purely theoretical foundations of formal methods and as a consequence many of their remarkable abilities are often ignored.
We try to establish a particular relationship between a particular form of State Machines as the prevalent modeling language applied in many robotic control software industries on one side, and the formal Lotos specification language as the general specifying language for open distributed systems, on the other side. We present a quite straightforward algorithm to transform refined state machines into Basic Lotos Specifications so that it can be further implemented as a program to mechanize the transformation process.
KeywordsState Machine Modeling Language Behavior Expression Composite State Robot Controller
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