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Analysis and testing of PLEXIL plans

Published: 03 June 2014 Publication History

Abstract

Autonomy is increasingly important in missions to remote locations (e.g., space applications and deep sea exploration) since limited bandwidth and communication delays make detailed instructions from a remote base (e.g., Earth or a land base) impractical. The planning systems used for autonomous operation are difficult to verify and validate because they must create plans for use in a specific environment and the correct behavior might not be easy to define.
To explore verification and validation of planning systems, we have developed a verification framework for the PLEXIL plan execution language. The framework allows us to perform verification and test case generation using Java Symbolic PathFinder. Using this framework, we have performed verification, bounded verification and test-case generation for NASA-relevant PLEXIL plans and discovered two bugs in the PLEXIL language semantics: one in the definition of the If/Then/Else construct in the Extended PLEXIL language that could lead to plan deadlocks, and one in the semantics of the core language that could cause the PLEXIL executive to crash.

References

[1]
G. Dowek, C. Mu˜ noz, and C. Păsăreanu. A small-step semantics of PLEXIL. Technical Report 2008-11, National Institute of Aerospace, Hampton, VA, 2008.
[2]
Java path finder home page. http://babelfish.arc.nasa.gov/trac/jpf/.
[3]
Plexil wiki main page. http://plexil.wiki.sourceforge.net/.
[4]
Symbolic pathfinder home page. http://babelfish. arc.nasa.gov/trac/jpf/wiki/projects/jpf-symbc.
[5]
V. Verma, A. Jˆ onsson, C. Pasareanu, and M. Iatauro. Universal executive and PLEXIL: Engine and language for robust spacecraft control and operations. In American Institute of Aeronautics and Astronautics Space 2006 Conference, September 2006.

Cited By

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  • (2016)Hardware and software architecture for Plexil-based, simulation supported, robot automation2016 IEEE Colombian Conference on Robotics and Automation (CCRA)10.1109/CCRA.2016.7811427(1-6)Online publication date: Sep-2016

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cover image ACM Conferences
FormaliSE 2014: Proceedings of the 2nd FME Workshop on Formal Methods in Software Engineering
June 2014
58 pages
ISBN:9781450328531
DOI:10.1145/2593489
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  • TCSE: IEEE Computer Society's Tech. Council on Software Engin.

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Association for Computing Machinery

New York, NY, United States

Publication History

Published: 03 June 2014

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Author Tags

  1. Java
  2. Java PathFinder
  3. automatic test generation

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Cited By

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  • (2016)Hardware and software architecture for Plexil-based, simulation supported, robot automation2016 IEEE Colombian Conference on Robotics and Automation (CCRA)10.1109/CCRA.2016.7811427(1-6)Online publication date: Sep-2016

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