Correct-by-Construction Design of Contextual Robotic Missions Using Contracts

• URL: http://arxiv.org/abs/2306.08144v3
• Date: Fri, 29 Dec 2023 19:50:19 GMT
• Title: Correct-by-Construction Design of Contextual Robotic Missions Using Contracts
• Authors: Piergiuseppe Mallozzi, Pierluigi Nuzzo, Nir Piterman, Gerardo Schneider, Patrizio Pelliccione
• Abstract summary: We propose a novel compositional framework for specifying and implementing contextual robotic missions. The mission specification is structured in a hierarchical and modular fashion, allowing for each sub-mission to be synthesized as an independent robot controller.
• Score: 6.890369837091434
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Effectively specifying and implementing robotic missions poses a set of challenges to software engineering for robotic systems. These challenges stem from the need to formalize and execute a robot's high-level tasks while considering various application scenarios and conditions, also known as contexts, in real-world operational environments. Writing correct mission specifications that explicitly account for multiple contexts can be tedious and error-prone. Furthermore, as the number of contexts, and consequently the complexity of the specification, increases, generating a correct-by-construction implementation (e.g., by using synthesis methods) can become intractable. A viable approach to address these issues is to decompose the mission specification into smaller, manageable sub-missions, with each sub-mission tailored to a specific context. Nevertheless, this compositional approach introduces its own set of challenges in ensuring the overall mission's correctness. In this paper, we propose a novel compositional framework for specifying and implementing contextual robotic missions using assume-guarantee contracts. The mission specification is structured in a hierarchical and modular fashion, allowing for each sub-mission to be synthesized as an independent robot controller. We address the problem of dynamically switching between sub-mission controllers while ensuring correctness under predefined conditions.

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