Distributed Watchpoints: Debugging Large Modular Robot Systems
International Journal of Robotics Research
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A class of properties of distributed computations is described and an algorithm which detects them is presented. This class of properties called regular patterns allows the user to specify an expected (or unwanted) behavior of a computation as sequences of relevant events (or as sequences of local predicates that must be successively verified). The sequences are defined by a finite state automaton (hence the name regular patterns) A computation verifies the property if and only if one of its causal paths matches a sequence.