Integrating Formal Veriication Methods of Quantitative Real-time Properties into a Development Environment for Robot Controllers Integrating Formal Veriication Methods of Quantitative Real-time Properties into a Development Environment for Robot Controllers

In this paper we describe our experience with a development environment for robot controllers, which provides the user with formal veriication func-tionalities. We study how to augment these functionalities by also allowing formal veriication of quantitative real-time properties. Our approach is based on the timed extension of a synchronous language, named Timed-Argos, and on a symbolic model-checking tool named Kronos for the real-time temporal logic TCTL. We illustrate this approach by a real example taken from the area of autonomous vehicles, which poses some challenges on the applicability of the theory and nally, we discuss some possible solutions. This large-scale real application is also an opportunity to identify new research directions in the area of formal veriication. V eriier des propri et es quantitatives temporelles dans un environnement de d eveloppement d'applications robotique R esum e : Nous d ecrivons dans ce rapport comment int egrer des m ethodes de v eriication formelle de propri et es quantitatives temporelles a un environnement d'aide au d e-veloppement d'applications robotique nomm e ORCCAD. Notre approche est bas ee sur l'utilisation d'une extension temporelle du langage synchrone Argos et d'un ou-til de v eriication symbolique nomm e Kronos. Nous illustrons cette approche sur un exemple r eel de conduite autonome de v ehicules. Cette exp erimentation est pour nous l'occasion de valider une approche formelle et de d ecouvrir de nouveaux besoins aan d'orienter les recherches men ees dans le domaine de la v eriication formelle des syst emes temps-r eels.