Verifying schedulability of tasks in ROS-based systems

Robot operating system (ROS) is a new programming framework for developing artificial intelligence systems, like robots, unmanned systems, etc. These systems are usually real-time systems. There are multi-tasks to be scheduled by the underlying real-time operating system. Ensuring schedulability of tasks in ROS-based systems (ROS systems for short) is essential for correctness and safety of such systems. This paper employs a model checking approach to verifying schedulability of tasks in ROS systems. In order to verify ROS systems, we investigate the operational semantics of TMSVL programs and develop an interpreter for it. As a case study, the scheduability of tasks in ROS systems is modeled in TMSVL and verified using its interpreter.

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

[2]  Zhenhua Duan,et al.  Operational semantics of Framed Tempura , 2008, J. Log. Algebraic Methods Program..

[3]  Giorgio C. Buttazzo,et al.  Rate Monotonic Analysis: The Hyperbolic Bound , 2003, IEEE Trans. Computers.

[4]  Zhenhua Duan,et al.  A mechanism of function calls in MSVL , 2016, Theor. Comput. Sci..

[5]  Cong Tian,et al.  A practical decision procedure for Propositional Projection Temporal Logic with infinite models , 2014, Theor. Comput. Sci..

[6]  Béatrice Bérard,et al.  Verification of a Timed Multitask System With Uppaal , 2005, IEEE Transactions on Automation Science and Engineering.

[7]  Enrico Vicario,et al.  Timed state space analysis of real-time preemptive systems , 2004, IEEE Transactions on Software Engineering.

[8]  Jun Sun,et al.  PAT: Towards Flexible Verification under Fairness , 2009, CAV.

[9]  Liang Zhao,et al.  MSVL: a typed language for temporal logic programming , 2017, Frontiers of Computer Science.

[10]  Jin Cui,et al.  A Novel Approach to Modeling and Verifying Real-Time Systems for High Reliability , 2018, IEEE Transactions on Reliability.

[11]  Min Zhou,et al.  Formal Modeling and Verification of a Rate-Monotonic Scheduling Implementation with Real-Time Maude , 2017, IEEE Transactions on Industrial Electronics.

[12]  Christel Baier,et al.  Principles of model checking , 2008 .

[13]  André Platzer,et al.  Formal verification of obstacle avoidance and navigation of ground robots , 2016, Int. J. Robotics Res..

[14]  Jean J. Labrosse.  uC/OS-III: The Real-Time Kernel and the Texas Instruments Stellaris MCUs , 2010 .

[15]  Chung Laung Liu,et al.  Scheduling Algorithms for Multiprogramming in a Hard-Real-Time Environment , 1989, JACM.

[16]  Jindong Tan,et al.  RT-ROS: A real-time ROS architecture on multi-core processors , 2016, Future Gener. Comput. Syst..

[17]  Rajeev Alur,et al.  Model-Checking in Dense Real-time , 1993, Inf. Comput..

[18]  Zhenhua Duan,et al.  Model checking concurrent systems with MSVL , 2016, Science China Information Sciences.

[19]  Meng Wang,et al.  Full Regular Temporal Property Verification as Dynamic Program Execution , 2017, 2017 IEEE/ACM 39th International Conference on Software Engineering Companion (ICSE-C).

[20]  Ling Shi,et al.  Modeling and verifying hierarchical real-time systems using stateful timed CSP , 2013, TSEM.

[21]  Cong Tian,et al.  A canonical form based decision procedure and model checking approach for propositional projection temporal logic , 2016, Theor. Comput. Sci..

[22]  Insup Lee,et al.  A process algebraic approach to the schedulability analysis and workload abstraction of hierarchical real-time systems , 2017, J. Log. Algebraic Methods Program..

[23]  Jason Upchurch,et al.  Unmanned aircraft systems in the national airspace system: a formal methods perspective , 2016, SIGL.

[24]  Zdenek Hanzálek,et al.  Formal verification of multitasking applications based on timed automata model , 2007, Real-Time Systems.

[25]  Michael Fisher,et al.  Formal verification of ethical choices in autonomous systems , 2016, Robotics Auton. Syst..

[26]  Reid G. Simmons,et al.  Robotic Systems Architectures and Programming , 2008, Springer Handbook of Robotics, 2nd Ed..

[27]  Giorgio C. Buttazzo,et al.  Schedulability analysis of periodic fixed priority systems , 2004, IEEE Transactions on Computers.