RoboCert: Property Specification in Robotics

Windsor, Matt orcid.org/0000-0003-1285-0080 and Cavalcanti, Ana orcid.org/0000-0002-0831-1976 (2022) RoboCert: Property Specification in Robotics. In: ICFEM 2022:Formal Methods and Software Engineering. 23rd International Conference on Formal Engineering Methods, 24-27 Oct 2022 Lecture Notes in Computer Science . Springer , ESP , pp. 386-403.

Abstract

RoboStar is a toolkit for model-based development using a domain-specific notation, RoboChart, with enriched UML-like state machines and a custom component model. We present RoboCert: a novel notation, based on UML sequence diagrams, which facilitates the specification of properties over RoboChart components. With RoboCert, we can express properties of a robotic system in a user-friendly, idiomatic manner. RoboCert specifications can be existential or universal, include timing notions such as deadlines and budgets, and both safety and liveness properties. Our work is faithful to UML where it can be, but presents significant extensions to fit the robotics application needs. RoboCert comes with tooling support for modelling and verification by model checking, and formal semantics in tock-CSP, the discrete-time variant of CSP.

Metadata

Item Type:

Proceedings Paper

Authors/Creators:

Windsor, Matt https://orcid.org/0000-0003-1285-0080
Cavalcanti, Ana https://orcid.org/0000-0002-0831-1976

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Keywords:

RoboChart, Timed properties, CSP, Sequence diagrams

Dates: