Formal Modeling and Verification of Control Logic for Cooperative Robots

Formal Modeling and Verification of Concurrent FSMs: Case Study on Event-Based Cooperative Transport Robots

“…10, the let-expression (let • • • within • • • ) is used for locally defining processes without conflicts of processnames. For example, the let-expression of Approach(rdy) (lines [3][4][5][6][7][8][9][10][11][12][13][14][15][16][17] shows that Approach(rdy) (line 3) is equal to Init (line 17) which is defined in the 4th line.…”

“…15, the sets used in RTM compo (see Table 7) are defined. In the other part, the function FSM(i) (lines [16][17][18][19][20][21][22] assigns the CSP-process of the FSM to the i-th RTC in CoopSys and the function Link(i, j) (lines 24-38) defines the set of the events passing from the i-th RTC to the j-th RTC. The structure made by FSM(i) and Link(i, j) corresponds to the one in Fig.…”

“…17 CSP are replaced with -> and [] in CSPm, respectively). All the CSPm codes for CoopSys can be downloaded from the web-site [16]. All the assertions in Fig.…”

“…24, where all the input-events to RoboMng are folded in the input-event in.event of RoboMng, and RaspberryPiMouseRTC is the RTC for Raspberry-Pi Mouse [6] which is published from the GitHub [7]. A demonstrative video of the cooperative transportation by the Raspberry-Pi Mouse is available in the web-site [16] and Fig. 1 is a snapshot of the video.…”