Alvaro Miyazawa

Wei Li, Alvaro Miyazawa, Pedro Ribeiro et al.

Controllers for autonomous robotic systems can be specified using state machines. However, these are typically developed in an ad hoc manner without formal semantics, which makes it difficult to analyse the controller. Simulations are often used during the development, but a rigorous connection between the designed controller and the implementation is often overlooked. This paper presents a state-machine based notation, RoboChart, together with a tool to automatically create code from the state machines, establishing a rigorous connection between specification and implementation. In RoboChart, a robot's controller is specified either graphically or using a textual description language. The controller code for simulation is automatically generated through a direct mapping from the specification. We demonstrate our approach using two case studies (self-organized aggregation and swarm taxis) in swarm robotics. The simulations are presented using two different simulators showing the general applicability of our approach.

Alvaro Miyazawa, Ana Cavalcanti

Safety-Critical Java (SCJ) is a version of Java whose goal is to support the development of real-time, embedded, safety-critical software. In particular, SCJ supports certification of such software by introducing abstractions that enforce a simpler architecture, and simpler concurrency and memory models. In this paper, we present SCJ-Circus, a refinement-oriented formal notation that supports the specification and verification of low-level programming models that include the new abstractions introduced by SCJ. SCJ-Circus is part of the family of state-rich process algebra Circus, as such, SCJ-Circus includes the Circus constructs for modelling sequential and concurrent behaviour, real-time and object orientation. We present here the syntax and semantics of SCJ-Circus, which is defined by mapping SCJ-Circus constructs to those of standard Circus. This is based on an existing approach for modelling SCJ programs. We also extend an existing Circus-based refinement strategy that targets SCJ programs to account for the generation of SCJ-Circus models close to implementations in SCJ.