Abstract
Cyber-physical systems are ubiquitous nowadays. However, as automation increases, modeling and verifying them becomes increasingly difficult due to the inherently complex physical environment. Skill graphs are a means to model complex cyber-physical systems (e.g., vehicle automation systems) by distributing complex behaviors among skills with interfaces between them. We identified that skill graphs have a high potential to be amenable to scalable verification approaches in the early software development process. In this work, we suggest combining skill graphs with hybrid programs. Hybrid programs constitute a program notation for hybrid systems enabling the verification of cyber-physical systems. We provide the first formalization of skill graphs including a notion of compositionality and propose Skeditor, an integrated framework for modeling and verifying them. Skeditor is coupled with the theorem prover KeYmaera X, which is specialized in the verification of hybrid programs. In an experiment exhibiting the follow mode of a vehicle, we evaluate our skill-based methodology with respect to savings in verification effort and potential to find modeling defects at design time. Compared to non-compositional verification, the initial verification effort needed is reduced by more than 53%.
Chapter PDF
Similar content being viewed by others
Keywords
References
Ahrendt, W., Beckert, B., Bubel, R., Hähnle, R., Schmitt, P.H., Ulbrich, M.: Deductive Software Verification–The KeY Book: From Theory to Practice. Springer (2016)
Alur, R.: Formal Verification of Hybrid Systems. In: Embedded Software (EMSOFT), 2011 Proceedings of the International Conference on. pp. 273–278. IEEE (2011).
Alur, R., Courcoubetis, C., Henzinger, T.A., Ho, P.H.: Hybrid Automata: An Algorithmic Approach to the Specification and Verification of Hybrid Systems. In: Hybrid systems, pp. 209–229. Springer (1993).
Alur, R., Dill, D.L.: A Theory of Timed Automata. Theoretical computer science 126(2), 183–235 (1994)
Alur, R., Henzinger, T.A., Sontag, E.D.: Hybrid Systems III: Verification and Control, vol. 3. Springer Science & Business Media (1996).
Baheti, R., Gill, H.: Cyber-physical Systems. The impact of control technology 12(1), 161–166 (2011)
Barnett, M., Fähndrich, M., Leino, K.R.M., Müller, P., Schulte, W.,Venter, H.: Specification and Verification: The Spec# Experience. Communications of the ACM 54, 81–91 (Jun 2011)
Batory, D., Sarvela, J.N., Rauschmayer, A.: Scaling Step-Wise Refinement. IEEE Transactions on Software Engineering (TSE) 30(6), 355–371(2004)
Broy, M.: Yesterday, Today, and Tomorrow: 50 Years of Software Engineering. IEEE Software 35(5), 38–43 (2018)
Burdy, L., Cheon, Y., Cok, D.R., Ernst, M.D., Kiniry, J., Leavens, G.T., Leino, K.R.M., Poll, E.: An Overview of JML Tools and Applications 7(3), 212–232 (2005)
Cuijpers, P.J.L., Reniers, M.A.: Hybrid Process Algebra. The Journal of Logic and Algebraic Programming 62(2), 191–245 (2005)
De Moura, L., Bjørner, N.: Z3: An Efficient SMT Solver. In: Proceedings of the International Conference on Tools and Algorithms for the Construction and Analysis of Systems. pp. 337–340. Springer (2008).
Foundation, T.E.: Graphiti - a Graphical Tooling Infrastructure, [Available at https://www.eclipse.org/graphiti/; accessed 22-January-2018.
Fulton, N., Mitsch, S., Quesel, J.D., Völp, M., Platzer, A.: KeYmaera X: An Axiomatic Tactical Theorem Prover for Hybrid Systems. In: International Conference on Automated Deduction. pp. 527–538. Springer (2015).
Garcia, A., Sant’Anna, C., Chavez, C., da Silva, V.T., de Lucena, C.J., vonStaa, A.: Separation of Concerns in Multi-agent Systems: An Empirical Study. In: International Workshop on Software Engineering for Large-Scale Multi-agent Systems. pp. 49–72. Springer (2003)
Gleirscher, M., Foster, S., Woodcock, J.: Opportunities for Integrated Formal Methods. CoRR abs/1812.10103 (2018), http://arxiv.org/abs/1812.10103.
Gleirscher, M., Marmsoler, D.: Formal Methods: Oversold? Underused? A Survey. arXiv preprint arXiv:1812.08815 (2018).
Hatcliff, J., Leavens, G.T., Leino, K.R.M., Müller, P., Parkinson, M.: Behavioral Interface Specification Languages 44(3), 16:1–16:58 (Jun 2012).
Henzinger, T.A.: The Theory of Hybrid Automata. In: Verification of Digital and Hybrid Systems, pp. 265–292. Springer (2000).
Krishna, S.N., Trivedi, A.: Hybrid Automata for Formal Modeling and Verification of Cyber-Physical Systems (Mar 2015).
Lunze, J., Lamnabhi-Lagarrigue, F.: Handbook of Hybrid Systems Control: Theory, Tools, Applications. Cambridge University Press (2009)
Maler, O.: Algorithmic Verification of Continuous and Hybrid Systems. arXiv preprint arXiv:1403.0952 (2014).
Maurer, M.: Flexible Automatisierung von Straßenfahrzeugen mit Rechnersehen (2000)
Müller, A., Mitsch, S., Retschitzegger, W., Schwinger, W., Platzer, A.: Tactical Contract Composition for Hybrid System Component Verification. International Journal on Software Tools for Technology Transfer20(6), 615–643 (2018)
Nerode, A., Kohn, W.: Models for Hybrid Systems: Automata, Topologies, Controllability, Observability. In: Hybrid systems, pp. 317–356. Springer (1993).
Nolte, M., Bagschik, G., Jatzkowski, I., Stolte, T., Reschka, A., Maurer, M.: Towards a Skill-and Ability-based Development Process for Self-aware Automated Road Vehicles. In: Intelligent Transportation Systems (ITSC), 2017 IEEE 20th International Conference on. pp. 1–6. IEEE (2017).
Parnas, D.L.: On the Criteria to be used in Decomposing Systems into Modules. Communications of the ACM 15(12), 1053–1058 (1972). https://doi.org/10.1145/361598.361623
Platzer, A.: Differential Dynamic Logic for Hybrid Systems. Journal of Automated Reasoning 41(2), 143–189 (2008)
Platzer, A.: Logics of Dynamical Systems. In: Proceedings of the 2012 27th Annual IEEE/ACM Symposium on Logic in Computer Science. pp. 13–24. IEEE Computer Society (2012).
Platzer, A.: The Complete Proof Theory of Hybrid Systems. In: Proceedings of the 2012 27th Annual IEEE/ACM Symposium on Logic in Computer Science. pp. 541–550. IEEE Computer Society (2012).
Platzer, A.: A Complete Uniform Substitution Calculus for Differential Dynamic Logic. Journal of Automated Reasoning 59(2), 219–265 (2017)
Reschka, A.: Fertigkeiten- und Fähigkeitengraphen als Grundlage des sicheren Betriebs von automatisierten Fahrzeugen im öffentlichen Straßenverkehr in städtischer Umgebung. Ph.D. thesis (Jul 2017).
Reschka, A., Bagschik, G., Ulbrich, S., Nolte, M., Maurer, M.: Ability and Skill Graphs for System Modeling, Online Monitoring, and Decision Support for Vehicle Guidance Systems. In: Intelligent Vehicles Symposium (IV), 2015 IEEE. pp. 933–939. IEEE (2015).
Schumann, J.M.: Automated Theorem Proving in Software Engineering. Springer Science & Business Media (2001).
Tabuada, P.: Verification and Control of Hybrid Systems: A Symbolic Approach. Springer Science & Business Media (2009).
Tarr, P., Ossher, H., Harrison, W., Sutton, Jr., S.M.: N Degrees of Separation: Multi-Dimensional Separation of Concerns. In: Proceedings of the International Conference on Software Engineering (ICSE). pp. 107–119. ACM (1999).
Ulbrich, S., Reschka, A., Rieken, J., Ernst, S., Bagschik, G., Dierkes, F., Nolte, M., Maurer, M.: Towards a Functional System Architecture for Automated Vehicles. arXiv preprint arXiv:1703.08557 (2017).
Acknowledgements
We are grateful to Enis Belli and Arne Windeler for their help with the implementation of Skeditor. This work was supported by the DFG (German Research Foundation) under the Researcher Unit FOR1800: Controlling Concurrent Change (CCC).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Open Access This chapter is licensed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license and indicate if changes were made.
The images or other third party material in this chapter are included in the chapter's Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the chapter's Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder.
Copyright information
© 2020 The Author(s)
About this paper
Cite this paper
Knüppel, A., Jatzkowski, I., Nolte, M., Thüm, T., Runge, T., Schaefer, I. (2020). Skill-Based Verification of Cyber-Physical Systems. In: Wehrheim, H., Cabot, J. (eds) Fundamental Approaches to Software Engineering. FASE 2020. Lecture Notes in Computer Science(), vol 12076. Springer, Cham. https://doi.org/10.1007/978-3-030-45234-6_10
Download citation
DOI: https://doi.org/10.1007/978-3-030-45234-6_10
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-45233-9
Online ISBN: 978-3-030-45234-6
eBook Packages: Computer ScienceComputer Science (R0)
