Statistical Model Checking of Complex Robotic Systems

Abstract

Failure of robotic software may cause catastrophic damages. In order to establish a higher level of trust in robotic systems, formal methods are often proposed. However, their applicability to the functional layer of robots remains limited because of the informal nature of specifications, their complexity and size. In this paper, we formalize the robotic framework G en oM3 and automatically translate its components to UPPAAL-SMC, a real-time statistical model checker. We apply our approach to verify properties of interest on a real-world autonomous drone navigation that does not scale with regular UPPAAL.

On Reconciling Schedulability Analysis and Model Checking in Robotics

“…UPPAAL [7] and IM-ITATOR [6]). Also, we already have templates that translate robotic specifications to both Fiacre/TINA [12] and UPPAAL [15]. Exploring both TPN and UTA will help us conclude on which of these templates we need to extend with schedulers.…”

“…In previous work, we bridged the robotic framework G en oM3 (Sect. 3.1) with Fiacre/TINA [12,13] and UPPAAL [15] through templates. Now, we only extend the UPPAAL template (since the optimized method, Sect.…”

“…2, is only implementable in UTA) with EDF and HRRN schedulers. The UPPAAL template output is proven faithful to the semantics of G en oM3 [14,15]. Therefore, we present briefly G en oM3 in this section, then explain some of the former's important behavioral and real-time aspects using an example of an automatically generated UPPAAL model of a G en oM3 component.…”

“…6 a very simplified version of the automatically generated UPPAAL model of the periodic execution tasks odo and track (ROBLOCO component, one time unit in the model is equal to 1 ms). This model follows the implementation model shown in [15], proven faithful to the semantics of G en oM3 [14,15]. The urgency process is to enforce ; transitions through the urgent channel exe (UPPAAL supports ; transitions only, not ; edges).…”

“…Then, in Sect. 3, we present the UPPAAL template [15], which automatically generates formal models from robotic specifications, and show how we extend it with dynamic-priority schedulers using the solution shown in Sect. 2.…”