Formal Proof of Properties of a Syntax-Oriented Editor of Robotic Missions Plans

A R T I C L E I N F O A B S T R A C T Article history: Received: 23 October, 2020 Accepted: 28 January, 2021 Online: 16 February, 2021 This article copes with the formal verification of properties of the missions building module of PILOT’s software. PILOT is a language dedicated to remote control of robots. An incremental syntax-oriented editor was built in order to increase the dependability of PILOT’s missions and we showed that, under a maximum size of plan, this editor allows building only all plans that are syntactically correct. The limitation in size was due to state space explosion problem inherent to the Model-checking approach used for the proof. In order to extend the proof to all plans without any limitation in size, we investigated the theorem-proving approach, and especially PVS (Prototype Verification System). This paper therefore focuses more on modeling of PILOT plans and related building operations and the use of PVS to verify properties of the built models, in view of proving the aforementioned properties of PILOT software’s missions building module.

[1]  Éric Rutten.  A framework for using discrete control synthesis in safe robotic programming and teleoperation , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[2]  Francisca Santana Robles,et al.  Coloured Petri Nets Basic Concepts, Analysis Methods and Practical Use , 2015 .

[3]  Advanced Real-time Mission Management for an AUV , 2007 .

[4]  Clare Dixon,et al.  Formal Specification and Verification of Autonomous Robotic Systems , 2018, ACM Comput. Surv..

[5]  Magali BARBIER,et al.  ProCoSA : a software package for autonomous system supervision , 2006 .

[6]  Félix Ingrand,et al.  Dependable execution control for autonomous robots , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[7]  Jan Friso Groote,et al.  Checking Verifications of Protocols and Distributed Systems by Computer , 1998, CONCUR.

[8]  Asgeir J. Sørensen,et al.  Towards integrated autonomous underwater operations for ocean mapping and monitoring , 2016, Annu. Rev. Control..

[9]  Laurent NANA,et al.  Proof of Properties of a Syntax Analyzer of Robotic Mission Plans , 2019, 2019 4th International Conference and Workshops on Recent Advances and Innovations in Engineering (ICRAIE).

[10]  Russ Tedrake,et al.  Safety verification of reactive controllers for UAV flight in cluttered environments using barrier certificates , 2012, 2012 IEEE International Conference on Robotics and Automation.

[11]  Jan Friso Groote,et al.  A computer checked algebraic verification of a distributed summation algorithm , 2005, Formal Aspects of Computing.

[12]  Osman Hasan,et al.  Formal verification of robotic cell injection systems , 2020 .

[13]  Karsten Berns,et al.  Tool-assisted verification of behaviour networks , 2013, 2013 IEEE International Conference on Robotics and Automation.

[14]  Nikola Miskovic,et al.  Challenges and future trends in marine robotics , 2018, Annu. Rev. Control..

[15]  Davide Bresolin,et al.  Open Problems in Verification and Refinement of Autonomous Robotic Systems , 2012, 2012 15th Euromicro Conference on Digital System Design.

[16]  Laurent Nana,et al.  Modeling and Testing of PILOT Plans Interpretation Algorithms , 2003 .

[17]  L. Marce,et al.  Investigation of safety mechanisms for oceanographic AUV missions programming , 2005, Europe Oceans 2005.

[18]  Lamri Laouamer,et al.  Motion JPEG Video Authentication Based on Quantization Matrix Watermarking: Application in Robotics , 2012 .

[19]  Ehsan Khamespanah,et al.  Towards an Actor-based Approach to Design Verified ROS-based Robotic Programs using Rebeca , 2019 .