2. Autonomous robot
An autonomous robot is a robot that performs behaviors or tasks with a
high degree of autonomy (without external influence)
A fully autonomous robot can
Gain information about the environment
Work for an extended period without human intervention
Move part of itself throughout its operating environment without human
assistance
Avoid situations that are harmful to people, property, or itself unless
those are part of its design specifications
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5. To be sure that the autonomous system
perform well in real world.
To be sure that there is not any type of
failures in the system.
To prove the system in all possible
scenarios.
To claim insurance.
To decide wheter we can deploy our
model on real world or not.
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6. Formal verification
Model checking
Theorem proving (logical inference)
Runtime monitoring
Integrated formal methods
Frameworks for verifiable robotic software
Single path
Random Path
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7. Formal verification is essentially
the process of assessing whether a
specification given in formal logic is
satisfied on a particular formal
description of the system in
question.
Persons involved
Nicolas Halbwachs
David Monniaux
Pascal Raymond
Matthieu Moy
7Fig: Flowchart of formal verificationhttps://www-verimag.imag.fr/Formal-Verification-
Theory.html?lang=
8. Model checking is an automatic
verification technique for finite
state concurrent systems
It uses
Temporal Logics
Process Algebras
Programs
8
FIG: Flow diagram of Model Checking
9. Advantage
Fast
No problem with partial
specifications
Logics can easily express many
concurrency properties
Disadvantage
Too many processes
Data Paths
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10. Theorem proving offers the benefit of producing a formal proof of the correctness
of a software system.
These formal proofs can be used to provide robust evidence for certification of
autonomous robotic systems.
The majorly used theorems are
Forward chaining.
Backward chaining.
Resolution.
10Fig: Workflow diagram
11. Can be used to extract the properties
exhibited by the system and to specify
them as a monitor of the system.
Advantages of runtime monitoring
Monitor is simpler than the system, it is
often easier to verify.
Runtime monitors can mitigate the
problem of the reality gap (between a
model and the real world) especially when
used to complement offline verification
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12. Can capture several dimensions of a
system at once (e.g., static and
dynamic behavior) for easy analysis
CHALLENGES
Often best tackled using iFMs.
Examples
FSP and πADL
UML-RT and CSP+T
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13. These frameworks often encompass a
number of the techniques already
described but frequently, they
incorporate bespoke tools and
formalisms.
Advantage of using frameworks
Facilitate the use of multiple verification
techniques.
But is not usually apply more than one of
previous techniques in practice.
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16. We will use some types of logics to verify
that the robot works well.
The robot will perform a simulation of a
possible scenario.
We wish to verify the robot’s reasoning is
correct.
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19. Formal verification, particularly
model-checking, has been used
successfully to formally verify
complex hardware and software
systems.
But the translation from the model to
mathematical terms are tough than it
looks. For that, Carnegie Mellon
University and NASA Ames
Research Center are developing tools
and techniques to support formal
verification of autonomous systems
https://www.cs.cmu.edu/afs/cs/user/reid
s/www/verification/index.html
19FIG: Architecture of translator
20. They help disambiguate system
specifications and articulate implicit
assumptions.
They also expose flaws in system
requirements, and their rigor enables a
better understanding of the problem
Because they use a formal language, many
colleagues can verify the specifications
independently—thereby solving errors early on
in the development process
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21. The previous section discussed the formal verification approaches. The most
popular approach is model checking, it is easy for developers to understand and it
is automatic and conceptually similar to exhaustive testing.
Frameworks are the next most popular approach.
iFMs are necessary in the verification of robotic systems due to their size and
complexity.
However, it is not clear, in practice, just how effective these in-built verification
tools are.
21
22. 1. Matt Luckcuck, Marie Farrell, Louise A. Dennis, Clare Dixon, Michael Fisher: Formal
Specification and Verification of Autonomous Robotic Systems.
https://arxiv.org/abs/1807.00048
2. Louise Dennis , Michael Fisher, Marija Slavkovik, Matt Webstera: Formal verification of
ethical choices in autonomous systems.
https://www.sciencedirect.com/science/article/pii/S0921889015003000
3. Louise A. Dennis, Michael Fisher, Nicholas K. Lincoln, Alexei Lisitsa, Sandor M. Veres:
Practical verification of decision-making in agent-based autonomous systems.
https://link.springer.com/article/10.1007/s10515-014-0168-9
4. Félix Ingrand: Recent Trends in Formal Validation and Verification of Autonomous Robots
Software. https://hal.laas.fr/hal-01968265
5. John-Jules Ch. Meyer, Jan Broersen and Andreas Herzig: BDI Logics.
https://www.irit.fr/~Andreas.Herzig/P/HandbkEpi15_chap10.pdf
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23. Techniques under development
https://www.cs.cmu.edu/afs/cs/user/reids/www/verification/index.html
Formal verification methods https://www-verimag.imag.fr/Formal-Verification-
Theory.html?lang=
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