Statistical Model Checking of Complex Robotic Systems

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 Open image in new window 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.

[1]  Morgan Quigley,et al.  ROS: an open-source Robot Operating System , 2009, ICRA 2009.

[2]  Matthieu Herrb,et al.  GenoM3: Building middleware-independent robotic components , 2010, 2010 IEEE International Conference on Robotics and Automation.

[3]  Charles Pecheur.  Verification and Validation of Autonomy Software at NASA , 2000 .

[4]  Satoshi Yamane,et al.  The symbolic model-checking for real-time systems , 1996, Proceedings of the Eighth Euromicro Workshop on Real-Time Systems.

[5]  Thomas A. Henzinger,et al.  Timed Transition Systems , 1991, REX Workshop.

[6]  Mohammed Foughali,et al.  Toward a Correct-and-Scalable Verification of Concurrent Robotic Systems: Insights on Formalisms and Tools , 2017, 2017 17th International Conference on Application of Concurrency to System Design (ACSD).

[7]  Piergiorgio Bertoli,et al.  Conformant planning via symbolic model checking and heuristic search , 2004, Artif. Intell..

[8]  Kyo Chul Kang,et al.  Formal Construction and Verification of Home Service Robots: A Case Study , 2005, ATVA.

[9]  Ufuk Topcu,et al.  Correct, Reactive, High-Level Robot Control , 2011, IEEE Robotics & Automation Magazine.

[10]  A. W. Roscoe.  Understanding Concurrent Systems , 2010, Texts in Computer Science.

[11]  Wei Li,et al.  Automatic property checking of robotic applications , 2017, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[12]  Joseph Sifakis,et al.  Modeling Urgency in Timed Systems , 1997, COMPOS.

[13]  Tara Estlin,et al.  The CLARAty architecture for robotic autonomy , 2001, 2001 IEEE Aerospace Conference Proceedings (Cat. No.01TH8542).

[14]  Marta Z. Kwiatkowska,et al.  Probabilistic Model Checking of Deadline Properties in the IEEE 1394 FireWire Root Contention Protocol , 2003, Formal Aspects of Computing.

[15]  Kim G. Larsen,et al.  Monitor-Based Statistical Model Checking for Weighted Metric Temporal Logic , 2012, LPAR.

[16]  Axel Legay,et al.  Statistical Model Checking: An Overview , 2010, RV.

[17]  José Proença,et al.  Formal Verification of ROS-Based Robotic Applications Using Timed-Automata , 2017, 2017 IEEE/ACM 5th International FME Workshop on Formal Methods in Software Engineering (FormaliSE).

[18]  Malik Ghallab,et al.  Deliberation for autonomous robots: A survey , 2017, Artif. Intell..

[19]  Axel Legay,et al.  Verification of Interlocking Systems Using Statistical Model Checking , 2016, 2017 IEEE 18th International Symposium on High Assurance Systems Engineering (HASE).

[20]  Kim G. Larsen,et al.  A Tutorial on Uppaal , 2004, SFM.

[21]  Roland Siegwart,et al.  Designing a secure and robust mobile interacting robot for the long term , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[22]  Wolfram Burgard,et al.  GOLEX - Bridging the Gap between Logic (GOLOG) and a Real Robot , 1998, KI.

[23]  Arcot Sowmya,et al.  Design of a Mobile Robot Controller Using Esterel Tools , 2002, SLAP@ETAPS.

[24]  Paul Pettersson,et al.  REMES: A Resource Model for Embedded Systems , 2009, 2009 14th IEEE International Conference on Engineering of Complex Computer Systems.

[25]  Marta Z. Kwiatkowska,et al.  PRISM 4.0: Verification of Probabilistic Real-Time Systems , 2011, CAV.

[26]  Silvano Dal-Zilio,et al.  Formal Verification of Complex Robotic Systems on Resource-Constrained Platforms , 2018, 2018 IEEE/ACM 6th International FME Workshop on Formal Methods in Software Engineering (FormaliSE).

[27]  Sandor M. Veres,et al.  Testing, Verification and Improvements of Timeliness in ROS Processes , 2016, TAROS.

[28]  Toshifusa Sekizawa,et al.  Behavior Verification of Autonomous Robot Vehicle in Consideration of Errors and Disturbances , 2015, 2015 IEEE 39th Annual Computer Software and Applications Conference.

[29]  Silvano Dal-Zilio,et al.  Model Checking Real-Time Properties on the Functional Layer of Autonomous Robots , 2016, ICFEM.

[30]  Soraya Arias,et al.  Orccad, a framework for safe robot control design and implementation , 2006 .

[31]  Mohammed Foughali,et al.  On the Semantics of the GenoM3 Framework , 2019 .