Cavalcanti, Ana orcid.org/0000-0002-0831-1976, Sampaio, Augusto, Miyazawa, Alvaro orcid.org/0000-0003-2233-9091 et al. (5 more authors) (2019) Verified simulation for robotics. Science of Computer Programming. ISSN 0167-6423
Abstract
Simulation is a favoured technique for analysis of robotic systems. Currently, however, simulations are programmed in an ad hoc way, for specific simulators, using either proprietary languages or general languages like C or C++. Even when a higher-level language is used, no clear relation between the simulation and a design model is established. We describe a tool-independent notation called RoboSim, designed specifically for modelling of (verified) simulations. We describe the syntax, well-formedness conditions, and semantics of RoboSim. We also show how we can use RoboSim models to check if a simulation is consistent with a functional design written in a UML-like notation akin to those often used by practitioners on an informal basis. We show how to check whether the design enables a feasible scheduling of behaviours in cycles as needed for a simulation, and formalise implicit assumptions routinely made when programming simulations. We develop a running example and three additional case studies to illustrate RoboSim and the proposed verification techniques. Tool support is also briefly discussed. Our results enable the description of simulations using tool-independent diagrammatic models amenable to verification and automatic generation of code.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2019 Elsevier B.V. This is an author-produced version of the published paper. Uploaded in accordance with the publisher’s self-archiving policy. |
Keywords: | State machines, Process algebra, CSP, Semantics, Refinement |
Dates: |
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Institution: | The University of York |
Academic Units: | The University of York > Faculty of Sciences (York) > Computer Science (York) |
Depositing User: | Pure (York) |
Date Deposited: | 14 Jan 2019 10:10 |
Last Modified: | 13 Mar 2025 05:24 |
Published Version: | https://doi.org/10.1016/j.scico.2019.01.004 |
Status: | Published online |
Refereed: | Yes |
Identification Number: | 10.1016/j.scico.2019.01.004 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:140997 |