RUNTIME VERIFICATION OF STATE DIAGRAM FOR ROBOTICS

Abstract

It is critical to develop a trustworthy system for cyber physic systems (CPS), such as unmanned aerial vehicle and robotic systems. However, it is challenging to develop trustworthy systems due to complicated system behavior and unknown or even hostile external environments that are in general unstable. It becomes even worse because of the integration of error detection and handling code in the system to react to unknown events or exceptions. To facilitate the development of trustworthy systems in CPS, we proposed a framework that allows developers to monitor system behavior at runtime easily. The framework is built around runtime verification tools and could detect any deviation from system behavior that is specified in state diagrams. One benefit of our framework is that it separates the monitoring code from system code that achieves the required functionalities. This creates a cleaner and modular system. A case study of a Lego EV3 robot is conducted to evaluate our framework.