Formal verification of an autonomous wheel loader by model checking

Track-based flow management systems like transportation systems and traffic control systems play a crucial role in our daily life. Safety and performance are among the most important quality requirements for these systems. This paper presents AdaptiveFlow as a framework for modeling, safety checking and performance analysis of trackbased flow management systems. AdaptiveFlow is based on the Hewitt actors computation model. In particular, tracks are modeled as actors and moving objects as messages. Timed Rebeca is used for modeling, and the model checking tool Afra is used for safety verification and performance evaluation in AdaptiveFlow. To react to dynamic changes in the environment, AdaptiveFlow provides support for three adaptive policies, which can be examined and compared in different scenarios. To demonstrate the applicability of AdaptiveFlow, we consider the Electric Site Research Project of Volvo Construction Equipment as a case study. In this project, a fleet of autonomous haulers is utilized to transport materials in a quarry site. Furthermore, to show the reusability of the framework for other flow management scenarios, an experiment on an urban garbage collection system is presented.

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“…[37] and used by Ref. [29]. We are also working on generating ROS (Robot Operating System) code from the Timed Rebeca models of AdaptiveFlow.…”

Section: Discussionmentioning

confidence: 99%

“…Authors in Ref. [29] model a vehicle and consider different features, such as position localisation, human and obstacle detection, collision avoidance. This model is then analyzed to avoid fatal accidents.…”

Section: Related Workmentioning

confidence: 99%

Safe Design of Flow Management Systems Using Rebeca

Forcina

Sedaghatbaf

Baumgart

et al. 2020

Journal of Information Processing

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“…Various types of robots are being developed to perform specific tasks on construction sites (Pan et al 2020;Bock and Linner 2016), such as steel wall framing assembly (Tamayo et al 2017;Bock and Linner 2016), earthmoving (Melenbrink et al 2020;Gurko et al 2019;Ha et al 2019;Czarnowski et al 2018;Gu et al 2018;Bock and Linner 2016), bricklaying (Dakhli and Lafhaj 2017;Bock and Linner 2016), and 3D printing of structural elements (Melenbrink et al 2020;Gharbia et al 2019;Bock and Linner 2016;Mantha et al 2020a). These robots, equipped with OT and IT components, aim to save time, improve productivity, reduce cost, and enhance safety during the construction phase (Carra et al 2018;Tamayo et al 2017;Bock and Linner 2016).…”

Section: Green Cluster: Construction Automation and Cyber-physical Systemsmentioning

confidence: 99%

Operational Technology on Construction Sites: A Review from the Cybersecurity Perspective

Sonkor

Soto

2021

J. Constr. Eng. Manage.

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The digital transformation in the construction industry affects how information is exchanged and disrupts the way construction sites operate. The levels of operational technology (OT) to control and monitor site activities by utilizing robotic, autonomous, and remotely controlled machines raise cybersecurity concerns. As construction sites are places where humans and machines work together, the potential safety outcomes of cybersecurity vulnerabilities are magnified. This study's motivation was to understand the current state of the art and identify gaps to suggest future directions regarding OT in construction from the cybersecurity perspective. To achieve that, a bibliometric analysis was conducted. The analysis utilized the Scopus database to retrieve related publications and VOSviewer version 1.6.15 software to visualize bibliometric networks. Main research themes were identified, and each theme was reviewed from a cybersecurity perspective. The limitations of the analysis include the lack of industry-based categorization, the domination of publications focusing on the cybersecurity of industrial control systems (ICSs), and the set of keyword combinations used for the literature search that could be expanded to cover a broader range of research topics. The findings reveal the lack of focus on the construction phase in the construction cybersecurity research. Moreover, cybersecurity aspects are absent in the construction automation studies, and there is a need for bespoke threat modeling and intrusion detection systems for all the phases of construction projects. Suggestions for further research on the potential threats against the construction phase are provided. Future directions include possible adaptations of the available cybersecurity frameworks considering the utilization of OT on construction sites and investigating the methods to evaluate security levels on construction sites and countermeasures against cyberattacks.

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“…UPPAAL model checker is an integrated tool environment for modeling, simulation, and verification of real-time systems modeled as a collection of nondeterministic processes and has been used for various robotic applications also. [22][23][24] Karaman and Frazzoli 25 solved the LTL-based multivehicle routing problem by converting the LTL constraints into Mixed-Integer Linear Programming problems. LTL formulas may also be converted to an automaton whose product is then taken with robot automaton and then automation graph search methods are constructed to plan robot motion.…”

Section: Model Checkers For Mission Verificationmentioning

confidence: 99%

Section: Literature Reviewmentioning

confidence: 99%

Modeling and verification of contingency resolution strategies for multi-robot missions using temporal logic

Shriyam

Gupta

2019

International Journal of Advanced Robotic Systems

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This article presents an approach for assessing contingency resolution strategies using temporal logic. We present a framework for nominal mission modeling, then specifying contingency resolution strategies and evaluating their effectiveness for the mission. Our approach focuses on leveraging the use of model checkers to the domain of multi-robot missions to assess the adequacy of contingency resolution strategies that minimize the adverse effects of contingencies on the mission execution. We consider missions with deterministic as well as probabilistic transitions. We demonstrate our approach using two case studies. We consider the escorting of a ship in a port where multiple contingencies may occur concurrently and assess the adequacy of the proposed contingency resolution strategies. We also consider a manufacturing scenario where multiple assembly stations collaborate to create a product. In this case, assembly operations may fail, and human intervention is needed to complete the assembly process. We investigate several different strategies and assess their effectiveness based on mission characteristics.

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Formal verification of an autonomous wheel loader by model checking

Cited by 13 publications

References 16 publications

Safe Design of Flow Management Systems Using Rebeca

Safe Design of Flow Management Systems Using Rebeca

Operational Technology on Construction Sites: A Review from the Cybersecurity Perspective

Modeling and verification of contingency resolution strategies for multi-robot missions using temporal logic

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