The temporal logic of reactive and concurrent systems
The temporal logic of reactive and concurrent systems
A Comparative Study of Synthesis Methods for Discrete Event Controllers
Formal Methods in System Design
Proof, language, and interaction
Safety Property Verification of ESTEREL Programs and Applications to Telecommunications Software
Proceedings of the 7th International Conference on Computer Aided Verification
Re-engineering software architecture of home service robots: a case study
Proceedings of the 27th international conference on Software engineering
A systematic testing approach for autonomousm mobile robots using domain-specific languages
KI'10 Proceedings of the 33rd annual German conference on Advances in artificial intelligence
| Hi-index | 0.00 |
Home service robots have attracted much attentions to anticipate improved quality of human life. Considering that malfunctions of home service robots can directly threat the safety of human users, the assurance of robot’s safe operation is a crucial prerequisite for the wide deployment of home service robots. Current practice of robot development, however, often fails to satisfy this requirement. Robot developers tend to concentrate on technical components only and fail to consider how these components will integrate to create the service. This practice frequently causes feature interaction problems. Furthermore, reactive nature of the robot applications adds to further complexity. Traditional testing is unsuccessful with this setting due to the difficulty of testing embedded systems and uncertainty caused by sensor devices. These situations make formal construction and verification essential to ensure safe operation of home service robots. In this paper, we present our experience of formally constructing and verifying the core of Samsung Home Robot (SHR) with the use of Esterel. First, we reverse-engineered SHR to identify and analyze the core of SHR. Then, we re-implemented the core part in Esterel and verified SHR to satisfy safety properties regarding stopping behaviors through model checking. Through the verification, we detected and solved a feature interaction problem which caused the robot to ignore a stop command.