Verifiable Parameterised Behaviour Models - For Robotic and Embedded Systems

Logic-labeled Finite-State Machines (LLFSMs) are Communicating Extended Finite State Machines that execute concurrently but with a predefined sequential schedule. This capacity has enabled effective formal verification. Moreover, LLFSMs are very powerful tools for Model-Driven Software Engineering of the behaviour of robotic and embedded systems. Although existing schedulers are capable of executing several instances of the same model, the challenge is to provide mechanisms for creating parameterised models akin to function calls. Since recent task planning algorithms can synthesise behaviours as LLFSMs with parameters and recursion, it becomes necessary to have a useful operational tool that produces compiled executables for such behaviours. Moreover, parameterisation allows replication of generic system components, reducing overall design complexity. We produce safe mechanisms to set actual and formal parameters for multiple, concurrent instances of the same behaviour. We achieve the parameterisation of behaviour models analogous to a procedural abstraction and discuss its advantages and disadvantages on formal verification.