Dara MacConville; Marie Farrell; Luckcuck, M.; Rosemary Monahan

CSP2Turtle: Verified Turtle Robot Plans

Journal article

Dara MacConville, Marie Farrell, Luckcuck, M. and Rosemary Monahan 2023. CSP2Turtle: Verified Turtle Robot Plans. Robotics. 12 (62), pp. 1-22. https://doi.org/10.3390/robotics12020062

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Authors	Dara MacConville, Marie Farrell, Luckcuck, M. and Rosemary Monahan
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.
Keywords	Software verification; robotics; Python; CSP
Year	2023
Journal	Robotics
Journal citation	12 (62), pp. 1-22
Publisher	MDPI
ISSN	2218-6581
Digital Object Identifier (DOI)	https://doi.org/10.3390/robotics12020062
Web address (URL)	http://dx.doi.org/10.3390/robotics12020062
Output status	Published
Publication dates	21 Apr 2023
Accepted	17 Apr 2023
Deposited	05 Jul 2023

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