CROME: Contract-Based Robotic Mission Specification
Paper in proceeding, 2020

We address the problem of automatically constructing a formal robotic mission specification in a logic language with precise semantics starting from an informal description of the mission requirements. We present CROME (Contract-based RObotic Mission spEcification), a framework that allows capturing mission requirements in terms of goals by using specification patterns, and automatically building linear temporal logic mission specifications conforming with the requirements. CROME leverages a new formal model, termed Contract-based Goal Graph (CGG), which enables organizing the requirements in a modular way with a rigorous compositional semantics. By relying on the CGG, it is then possible to automatically: i) check the feasibility of the overall mission, ii) further refine it from a library of pre-defined goals, and iii) synthesize multiple controllers that implement different parts of the mission at different abstraction levels, when the specification is realizable. If the overall mission is not realizable, CROME identifies mission scenarios, i.e., sub-missions that can be realizable. We illustrate the effectiveness of our methodology and supporting tool on a case study.

Author

Piergiuseppe Mallozzi

Chalmers, Computer Science and Engineering (Chalmers), Software Engineering (Chalmers), Software Engineering for Cyber Physical Systems

Pierluigi Nuzzo

University of Southern California

Patrizio Pelliccione

University of Gothenburg

Gerardo Schneider

University of Gothenburg

Chalmers, Computer Science and Engineering (Chalmers), Formal methods

2020 18th ACM-IEEE International Conference on Formal Methods and Models for System Design, MEMOCODE 2020

9315065

18th ACM-IEEE International Conference on Formal Methods and Models for System Design, MEMOCODE 2020
Virtual, Jaipur, India,

Subject Categories

Robotics

Computer Science

Computer Systems

DOI

10.1109/MEMOCODE51338.2020.9315065

More information

Latest update

2/25/2021