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Verification of the ROS NavFn planner using executable specification languages



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Martin-Martin, Enrique and Montenegro Montes, Manuel and Riesco Rodríguez, Adrián and Rodríguez Hortalá, Juan and Rubio Cuéllar, Rubén Rafael (2023) Verification of the ROS NavFn planner using executable specification languages. Journal of Logical and Algebraic Methods in Programming, 132 . p. 100860. ISSN 2352-2216

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Official URL: https://doi.org/10.1016/j.jlamp.2023.100860


The Robot Operating System (ROS) is a framework for building robust software for complex robot systems in several domains. The Navigation Stack stands out among the different libraries available in ROS, providing a set of components that can be reused to build robots with autonomous navigation capabilities. This library is a critical component, as navigation failures could have catastrophic consequences for applications like self-driving cars where safety is crucial.

Here we devise a general methodology for verifying this kind of complex systems by specifying them in different executable specification languages with verification support and validating the equivalence between the specifications and the original system using differential testing techniques. The complex system can then be indirectly analyzed using the verification tools of the specification languages like model checking, semi-automated functional verification based on Hoare logic, and other formal techniques. In this paper we apply this verification methodology to the NavFn planner, which is the main planner component of the Navigation Stack of ROS, using Maude and Dafny as specification languages. We have formally proved several desirable properties of this planner algorithm like the absence of obstacles in the planned path. Moreover, we have found counterexamples for other concerns like the optimality of the path cost.

Item Type:Article
Additional Information:

CRUE-CSIC (Acuerdos Transformativos 2023)

Uncontrolled Keywords:Formal verification, Model checking, ROS, Maude, Navigation, Dafny
Subjects:Sciences > Computer science
Sciences > Mathematics > Logic, Symbolic and mathematical
ID Code:76791
Deposited On:23 Feb 2023 13:11
Last Modified:23 Feb 2023 13:11

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