Proceedings ArticleDOI
Formal specification, refinement, and implementation of path planning
Eman Rabiah,Boumediene Belkhouche +1 more
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TLDR
This work formally address the issue of enhancing reliability of the widely-used A∗ path planning algorithm with a step-wise refinement process that captures successively more concrete specifications by transforming a high-level specification into an equivalent executable program.Abstract:
We investigate navigation algorithms, and specifically path planning, a fundamental function of autonomous robots. We formally address the issue of enhancing reliability of the widely-used A∗ path planning algorithm. In our step-wise refinement process, we capture successively more concrete specifications by transforming a high-level specification into an equivalent executable program. To elaborate an initial representation of the A∗ algorithm, we express it in an abstract and intuitive, yet formal, description. We use traditional mathematical concepts, such as sets, functions and predicate logic to capture this description. We then use the Z specification language to effect the transformation from the mathematical description into Z schemas, thus obtaining a formal specification. We use CZT to perform syntax and type checking and the Z/EVES tool to automatically prove some properties about the specification. Subsequently, we use the Z formal refinement theory to generate the implementation specification. This stage involves both data and operation refinement and is carried out in several basic sub-steps. A Java-based simulation prototype that mirrors the implementation specification is developed in order to demonstrate the applicability of our software development approach.read more
Citations
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Formal verification of an autonomous wheel loader by model checking
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Safe Design of Flow Management Systems Using Rebeca
Giorgio Forcina,Ali Sedaghatbaf,Stephan Baumgart,Ali Jafari,Ehsan Khamespanah,Ehsan Khamespanah,Pavle Mrvaljevic,Marjan Sirjani +7 more
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Mind the gap: Robotic Mission Planning Meets Software Engineering
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Modeling and Deployment of an Autonomous Cart Pickup and Delivery System
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An Actor-Based Design Platform for System of Systems
Marjan Sirjani,Giorgio Forcina,Ali Jafari,Stephan Baumgart,Ehsan Khamespanah,Ali Sedaghatbaf +5 more
TL;DR: A model-based development approach is proposed and tools are provided for formal verification and performance evaluation and the efficiency of the approach and the applicability of the developed platform are investigated.
References
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A Formal Basis for the Heuristic Determination of Minimum Cost Paths
TL;DR: How heuristic information from the problem domain can be incorporated into a formal mathematical theory of graph searching is described and an optimality property of a class of search strategies is demonstrated.
MonographDOI
Planning Algorithms: Introductory Material
TL;DR: This coherent and comprehensive book unifies material from several sources, including robotics, control theory, artificial intelligence, and algorithms, into planning under differential constraints that arise when automating the motions of virtually any mechanical system.
Book
Using Z: Specification, Refinement, and Proof
Jim Woodcock,Jim Davies +1 more
TL;DR: The book discusses data Refinement, Relaxing and Unwinding Data Refinement and Z, and the importance of Equality and Definite Description in the application of data refinement.
Journal ArticleDOI
Formal methods: Practice and experience
TL;DR: The state of the art in the industrial use of formal methods is described, concentrating on their increasing use at the earlier stages of specification and design, by comparing the situation in 2009 with the most significant surveys carried out over the last 20 years.
Book ChapterDOI
The EVES System
TL;DR: In this paper, the authors discuss two applications of EVES, one of which is a proof of Jacobson's Theorem and the second one is an interpreter for a small programming language.