We present a novel formal verification approach for collective robotic systems that is based on the use of the formal language Klaim and related analysis tools. While existing approaches focus on either micro- or macroscopic views of a system, we model aspects of both the robot hardware and behaviour, as well as relevant aspects of the environment. We illustrate our approach through a robotics scenario, in which three robots cooperate in a decentralized fashion to transport an object to a goal area. We first model the scenario in Klaim. Subsequently, we introduce random aspects to the model by stochastically specifying actions execution time. Unlike other approaches, the specification thus obtained enables quantitative analysis of crucial properties of the system. We validate our approach by comparing the results with those obtained through physics-based simulations
In recent years, it has been argued that systems and applications, in order to deal with their increasing complexity, should be able to adapt their behavior according to new requirements or environment conditions. In this paper, we present a preliminary investigation aiming at studying how coordination languages and formal methods can contribute to a better understanding, implementation and usage of the mechanisms and techniques for adaptation currently proposed in the literature. Our study relies on the formal coordination language Klaim as a common framework for modeling some adaptation techniques, namely the MAPE-K loop, aspect-and context-oriented programming.
In recent years, it has been argued that systems and applications, in order to deal with their increasing complexity, should be able to adapt their behavior according to new requirements or environment conditions. In this paper, we present an investigation aiming at studying how coordination languages and formal methods can contribute to a better understanding, implementation and use of the mechanisms and techniques for adaptation currently proposed in the literature. Our study relies on the formal coordination language Klaim as a common framework for modeling some well-known adaptation techniques: the IBM MAPE-K loop, the Accord component-based framework for architectural adaptation, and the aspect-and context-oriented programming paradigms. We illustrate our approach through a simple example concerning a data repository equipped with an automated cache mechanism.
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