Skip to main content
SpringerLink
Log in

Bisimulation conversion and verification procedure for goal-based control systems

  • Published:
Formal Methods in System Design Aims and scope Submit manuscript

Abstract

Fault tolerance and safety verification of control systems are essential for the success of autonomous robotic systems. A control architecture called Mission Data System (MDS), developed at the Jet Propulsion Laboratory, addresses these needs with a goal-based control approach. In this paper, a software algorithm for converting goal network control systems into linear hybrid systems is described. The conversion process is a bisimulation; the resulting linear hybrid system can be verified for safety in the presence of failures using existing symbolic model checkers, and thus the original goal network is verified. A moderately complex example goal network control system is converted to a linear hybrid system using the automatic conversion software that is based on the bisimulation and then is verified.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Alur R, Henzinger T, Ho PH (1996) Automatic symbolic verification of embedded systems. IEEE Trans Softw Eng 22(3):181–201

    Article  Google Scholar 

  2. Ball T, Rajamani SK (2000) Bebop: a symbolic model checker for boolean programs. In: SPIN. Lecture notes in computer science, vol 1885. Springer, Berlin, pp 113–130

    Google Scholar 

  3. Biere A, Cimatti A, Clarke E, Zhu Y (1999) Symbolic model checking without BDDs. In: TACAS/ETAPS. Lecture notes in computer science, vol 1579. Springer, Berlin, pp 193–207

    Google Scholar 

  4. Blanke M, Staroswiecki M, Wu NE (2001) Concepts and methods in fault-tolerant control. In: Proc. of the American control conference

    Google Scholar 

  5. Bordini R, Fisher M, Visser W, Wooldridge M (2004a) State-space reduction techniques in agent verification. In: Proc of the third international joint conference on autonomous agents and multiagent systems, pp 896–903

    Google Scholar 

  6. Bordini RH, Fisher M, Visser W, Wooldridge M (2004b) Verifiable multi-agent programs. In: Programming multi-agent systems. Lecture notes in artificial intelligence, vol 3067, pp 72–89

    Chapter  Google Scholar 

  7. Braman JMB (2009) Safety verification and failure analysis of goal-based hybrid control system. PhD thesis, California Institute of Technology

  8. Brooks RA (1986) A robust layered control system for a mobile robot. IEEE J Robot Autom RA-2(1):14–23

    Google Scholar 

  9. Burch J, Clarke E, McMillan K, Dill D, Hwang L (1990) Symbolic model checking: 1020 states and beyond. In: Proc of the fifth annual IEEE symposium on logic in computer science, pp 428–439

    Chapter  Google Scholar 

  10. Burdick JW, Du Toit NE, Howard A, Looman C, Ma J, Murray RM, Wongpiromsarn T (2007) Sensing, navigation and reasoning technologies for the DARPA urban challenge. Tech rep, DARPA Urban Challenge Final Report

  11. Cimatti A, Clarke E, Giunchiglia E, Giunchiglia F, Pistore M, Roveri M, Sebastiani R, Tacchella A (2002) NuSMV 2: an open source tool for symbolic model checking. In: CAV, Lecture notes in computer science, vol 2404. Springer, Berlin, pp 359–364

    Google Scholar 

  12. EM Clarke, Wing JM (1996) Formal methods: state of the art and future directions. ACM Comput Surv 28(4):626–643

    Article  Google Scholar 

  13. Cremean LB, Foote TB, Gillula JH, Hines GH, Kogan D, Kriechbaum KL, Lamb JC, Leibs J, Lindzey L, Stewart AD, Burdick JW, Murray RM (2006) Alice: an information-rich autonomous vehicle for high-speed desert navigation. J Field Robot 23:777–810

    Article  Google Scholar 

  14. Croomes S (2006) Overview of the DART mishap investigation results. Tech rep, National Aeronautics and Space Administration

  15. Dill D, Wong-Toi H (1995) Verification of real-time systems by successive over and under approximation. In: CAV 95: computer-aided verification. Springer, Berlin, pp 409–422

    Google Scholar 

  16. Dvorak D, Rasmussen R, Reeves G, Sacks A (2000) Software architecture themes in JPL’s mission data system. In: Proc of the IEEE aerospace conference

    Google Scholar 

  17. Dvorak D, Rasmussen R, Starbird T (2002) State knowledge representation in the mission data system. In: Proc of the IEEE aerospace conference

    Google Scholar 

  18. Elfes A, Hall JL, Montgomery JF, Bergh CF, Dudik BA (2004) Towards a substantionally autonomous aerobot for exploration of Titan. In: Proc of the IEEE international conference on robotics and automation, pp 2535–2541

    Google Scholar 

  19. Ferrell C (1994) Failure recognition and fault tolerance of an autonomous robot. Adapt Behav 2(4):375–398

    Article  Google Scholar 

  20. Flanagan C, Godefroid P (2005) Dynamic partial-order reduction for model checking software. ACM SIGPLAN Not 40(1):110–121

    Article  Google Scholar 

  21. Frehse G (2005) PHAVer: algorithmic verification of hybrid systems past HyTech. In: Proc of the international conference on hybrid systems: computation and control.

    Google Scholar 

  22. Girard A, Pappas GJ (2007) Approximate bisimulation relations for constrained linear systems. Automatica 43(8):1307–1317

    Article  MATH  MathSciNet  Google Scholar 

  23. Haghverdi E, Tabuada P, Pappas GJ (2005) Bisimulation relations for dynamical, control, and hybrid systems. Theor Comput Sci 342(2-3):229–261

    Article  MATH  MathSciNet  Google Scholar 

  24. Henzinger TA, Ho PH, Wong-Toi H (1997) HyTech: a model checker for hybrid systems. Int J Softw Tools Technol Transf. doi:10.1007/s100090050008

  25. Holzmann G (2004) The spin model checker: primer and reference manual. Addison-Wesley, Reading

    Google Scholar 

  26. Ingham MD, Williams BC (2003) Timed model-based programming: executable specificiations for robust critical sequences. In Proc of the international workshop on self-adaptive software

  27. Kim P, Williams BC, Abramson M (2001) Executing reactive model-based programs through graph-based temporal planning. In: Proc of the international joint conference on artificial intelligence

    Google Scholar 

  28. Labinaz G, Bayoumi MM, Rudie K (1997) A survey of modeling and control of hybrid systems. Annu Rev Control 21:79–92

    Google Scholar 

  29. Larsen K, Pettersson P, Yi W (1997) UPPAAL in a nutshell. Int J Softw Tools Technol Transf 1(1–2):134–152

    MATH  Google Scholar 

  30. Lueth TC, Laengle T (1994) Fault-tolerance and error recovery in an autonomous robot with distributed controlled components. In: Proc. of the IEEE International Conference on Robotics and Automation. Springer, Berlin, pp 8–13

    Google Scholar 

  31. Mataric MJ (1992) Integration of representation into goal-driven behavior-based robots. IEEE Trans Robot Autom 8(3):304–312

    Article  Google Scholar 

  32. McMillan KL (2002) Applying SAT methods in unbounded symbolic model checking. In: CAV. Lecture notes in computer science, vol 2404. Springer, Berlin, pp 250–264

    Google Scholar 

  33. Owre S, Rushby J, Shankar N, von Henke F (1995) Formal verification for fault-tolerant architectures: Prolegomena to the design of PVS. IEEE Trans Softw Eng 21(2):107–126

    Article  Google Scholar 

  34. Parker LE (1998) ALLIANCE: an architecture for fault tolerant multirobot cooperation. IEEE Trans Robot Autom 14(2):220–240

    Article  Google Scholar 

  35. Rasmussen RD (2001) Goal-based fault tolerance for space systems using the mission data system. In: Proc of the IEEE aerospace conference, vol 5, pp 2401–2410

    Google Scholar 

  36. Schneider F, Easterbrook S, Callahan J, Holzmann G (1998) Validating requirements for fault tolerant systems using model checking. In: Proc of the third international conference on requirements engineering, pp 4–13

    Google Scholar 

  37. Simmons R, Pecheur C, Srinivasan G (2000) Towards automatic verification of autonomous systems. In: Proc of the IEEE/RSJ international conference on intelligent robots and systems, vol 2. Springer, Berlin, pp 1410–1415. doi:10.1109/IROS.2000.893218

    Google Scholar 

  38. Suzuki T, Shatz SM, Murata T (1990) A protocol modeling and verification approach based on a specification language and petri nets. IEEE Trans Softw Eng 16(5):523–536

    Article  Google Scholar 

  39. Tabuada P, Pappas GJ (2004) Bisimilar control affine systems. Syst Control Lett 52(1):49–58

    Article  MATH  MathSciNet  Google Scholar 

  40. Visinsky ML, Cavallaro JR, Walker ID (1995) A dynamic fault tolerance framework for remote robots. IEEE Trans Robot Autom 11(4):477–490

    Article  Google Scholar 

  41. Williams BC, Kim P, Hofbaur M, How J, Kennell J, Loy J, Ragno R, Stedl J, Walcott A (2001) Model-based reactive programming of cooperative vehicles for Mars exploration. In: Proc of the international symposium on artificial intelligence, robotics and automation in space

    Google Scholar 

  42. Williams BC, Ingham MD, Chung S, Elliott P, Hofbaur M, Sullivan GT (2003) Model-based programming of fault-aware systems. AI Mag 24(4):61–75

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. NASA-Johnson Space Center, 2101 NASA Parkway, Houston, TX, 77058, USA

    Julia M. B. Braman

  2. California Institute of Technology, MC 107-81, 1200 E. California Blvd., Pasadena, CA, 91125, USA

    Richard M. Murray

Authors
  1. Julia M. B. Braman
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Richard M. Murray
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Julia M. B. Braman.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Braman, J.M.B., Murray, R.M. Bisimulation conversion and verification procedure for goal-based control systems. Form Methods Syst Des 38, 62–95 (2011). https://doi.org/10.1007/s10703-010-0109-6

Download citation

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10703-010-0109-6

Keywords

Search

Navigation