CSP2Turtle: Verified Turtle Robot Plans
Author:
MacConville Dara1ORCID, Farrell Marie2ORCID, Luckcuck Matt3ORCID, Monahan Rosemary1ORCID
Affiliation:
1. Department of Computer Science/Hamilton Institute, Maynooth University, Maynooth, Co., W23 N7F6 Kildare, Ireland 2. Department of Computer Science, The University of Manchester, Manchester M13 9PL, UK 3. Department of Electronics, Computing and Mathematics, University of Derby, Derby DE22 1GB, UK
Abstract
Software verification is an important approach to establishing the reliability of critical systems. One important area of application is in the field of robotics, as robots take on more tasks in both day-to-day areas and highly specialised domains. Our particular interest is in checking the plans that robots are expected to follow to detect errors that would lead to unreliable behaviour. Python is a popular programming language in the robotics domain through the use of the Robot Operating System (ROS) and various other libraries. Python’s Turtle package provides a mobile agent, which we formally model here using Communicating Sequential Processes (CSP). Our interactive toolchain CSP2Turtle with CSP models and Python components enables plans for the turtle agent to be verified using the FDR model-checker before being executed in Python. This means that certain classes of errors can be avoided, providing a starting point for more detailed verification of Turtle programs and more complex robotic systems. We illustrate our approach with examples of robot navigation and obstacle avoidance in a 2D grid-world. We evaluate our approach and discuss future work, including how our approach could be scaled to larger systems.
Funder
Science Foundation Ireland
Subject
Artificial Intelligence,Control and Optimization,Mechanical Engineering
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