Abstract
The paper deals with the problem of verifying a behaviour-based control system. Although failures in sensor hardware and software can have strong influences on the robot reaction, they are often neglected in the verification process. Instead, perfect sensing is assumed. Therefore, this paper provides an approach for modelling the sensor chain in a formal way and connect it to the formal model of the control system. This model can be verified using model checking techniques, which is shown on the example of the control system of the autonomous off-road robot ravon (ravon: Robust Autonomous Vehicle for Off-road Navigation).
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Notes
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- 2.
mca2-kl: Modular Controller Architecture Version 2 - Kaiserslautern Branch.
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finroc is the successor of mca2-kl. See http://finroc.org/ for more information.
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- 5.
In Uppaal it is required to add committed states in order to receive and send multiple signals.
- 6.
Due to the limited space, the check of the Processing flag is left out in the queries.
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References
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Acknowledgments
The research leading to these results has received funding from the European Union Seventh Framework Programme (FP7/2007-2013) under grant agreement number 285417.
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Kiekbusch, L., Armbrust, C., Berns, K. (2016). Formal Verification of Behaviour Networks Including Hardware Failures. In: Menegatti, E., Michael, N., Berns, K., Yamaguchi, H. (eds) Intelligent Autonomous Systems 13. Advances in Intelligent Systems and Computing, vol 302. Springer, Cham. https://doi.org/10.1007/978-3-319-08338-4_113
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