Towards a Formal Verification Methodology for Collective Robotic Systems

Gjondrekaj, Edmond; Loreti, Michele; Pugliese, Rosario; Tiezzi, Francesco; Pinciroli, Carlo; Brambilla, Manuele; Birattari, Mauro; Dorigo, Marco

doi:10.1007/978-3-642-34281-3_7

Cited by 25 publications

(23 citation statements)

References 18 publications

(32 reference statements)

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“…In particular, the tool is used there to model and analyse three classical leader election algorithms. Finally, [16] and [17] present the application of this stochastic verification methodology and related tools to two different domains: collective robotic systems and reputation systems, respectively. In both cases, simulation and model checking results are discussed.…”

Section: Related Workmentioning

confidence: 99%

Reputation-Based Composition of Social Web Services

Celestini

Costantino

Nicola³

et al. 2014

2014 IEEE 28th International Conference on Advanced Information Networking and Applications

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Social Web Services (SWSs) constitute a novel paradigm of service-oriented computing, where Web services, just like humans, sign up in social networks that guarantee, e.g., better service discovery for users and faster replacement in case of service failures. In past work, composition of SWSs was mainly supported by specialised social networks of competitor services and cooperating ones. In this work, we continue this line of research, by proposing a novel SWSs composition procedure driven by the SWSs reputation. Making use of a well-known formal language and associated tools, we specify the composition steps and we prove that such reputation-driven approach assures better results in terms of the overall quality of service of the compositions, with respect to randomly selecting SWSs.

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Section: Related Workmentioning

confidence: 99%

Reputation-Based Composition of Social Web Services

Celestini

Costantino

Nicola³

et al. 2014

2014 IEEE 28th International Conference on Advanced Information Networking and Applications

Self Cite

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“…Two-armed industrial robot and mechanical press. [80] Methodology for verifying three cooperative robots with distributed control using the formal language Klaim, and its extension for stochastic analysis.…”

Section: Ref Formalisms/tools Employedmentioning

confidence: 99%

“…The work in [80] presents a methodology for verifying cooperative robots with distributed control. They use the formal language Klaim, which was designed for distributed systems; its stochastic extension, StoKlaim; and its related tool set.…”

Section: Multi-robot Systemsmentioning

confidence: 99%

Formal Specification and Verification of Autonomous Robotic Systems

et al. 2019

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Autonomous robotic systems are complex, hybrid, and often safety-critical; this makes their formal specification and verification uniquely challenging. Though commonly used, testing and simulation alone are insufficient to ensure the correctness of, or provide sufficient evidence for the certification of, autonomous robotics. Formal methods for autonomous robotics has received some attention in the literature, but no resource provides a current overview. This paper systematically surveys the state-of-the-art in formal specification and verification for autonomous robotics. Specially, it identifies and categorises the challenges posed by, the formalisms aimed at, and the formal approaches for the specification and verification of autonomous robotics. Introduction, Methodology and Related WorkAn autonomous system is an artificially intelligent entity that makes decisions in response to input, independent of human interaction. Robotic systems are physical entities that interact with the physical world. Thus, we consider an autonomous robotic system as a machine that uses Artificial Intelligence (AI), has a physical presence in and interacts with the real world. They are complex, inherently hybrid, systems, combining both hardware and software; they often require close safety, legal, and ethical consideration. Autonomous robotics are increasingly being used in commonplace-scenarios, such as driverless cars [68], pilotless aircraft [176], and domestic assistants [174,60].While for many engineered systems, testing, either through real deployment or via simulation, is deemed sufficient; the unique challenges of autonomous robotics, their dependence on sophisticated software control and decision-making, and their increasing deployment in safety-critical scenarios, require a stronger form of verification. This leads us towards using formal methods, which are mathematically-based techniques for the specification and verification of software systems, to ensure the correctness of, and provide sufficient evidence for the certification of, robotic systems.We contribute an overview and analysis of the state-of-the-art in formal specification and verification of autonomous robotics. §1.1 outlines the scope, research questions and search criteria for our survey. §1.2 describes related work concerning formal methods for robotics and differentiates them from our work. We recognise the important role that middleware architectures and, non-and semi-formal techniques have in the development of reliable robotics and we briefly summarise some of these techniques in §2. The specification and verification challenges raised by autonomous robotic systems are discussed next: §3 describes the challenges of their context (the external challenges) and §4 describes the challenges of their organisation (the internal challenges). §5 discusses the formalisms used in the literature for specification and verification of autonomous robotics. §6 characterises the approaches to formal specification and verification of autonomous robotics found in the li...

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“…This is a point in common with our approach even if we do not consider a particular way of encapsulating code (behavior) such as aspects or variations (respectively used in the aspect-and context-oriented paradigms). Interestingly enough, KLAIM and its toolset are used in [39] in order to specify and analyze collective robotic systems. As in our case, the analysis is based on statistical model checking.…”

Section: Reflection-based Adaptationmentioning

confidence: 99%

Modelling and analyzing adaptive self-assembly strategies with Maude

Bruni

Corradini

Gadducci

et al. 2015

Science of Computer Programming

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Building adaptive systems with predictable emergent behavior is a difficult task and it is becoming a critical need. The research community has accepted the challenge by introducing approaches of various nature: from software architectures to programming paradigms and analysis techniques. Our white-box conceptual approach to adaptive systems based on the notion of control data promotes a clear distinction between the application and the adaptation logic. In this paper we propose a concrete instance of our approach based on (i) a neat identification of control data; (ii) a hierarchical architecture that provides the basic structure to separate the adaptation and application logics; (iii) computational reflection as the main mechanism to realize the adaptation logic; (iv) probabilistic rule-based specifications and quantitative verification techniques to specify and analyze the adaptation logic. We show that our solution can be naturally realized in Maude, a Rewriting Logic based framework, and illustrate our approach by specifying, validating and analyzing a prominent example of adaptive systems: robot swarms equipped with self-assembly strategies

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Towards a Formal Verification Methodology for Collective Robotic Systems

Cited by 25 publications

References 18 publications

Reputation-Based Composition of Social Web Services

Reputation-Based Composition of Social Web Services

Formal Specification and Verification of Autonomous Robotic Systems

Modelling and analyzing adaptive self-assembly strategies with Maude

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