20,442 research outputs found

    Specification Patterns for Robotic Missions

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    Mobile and general-purpose robots increasingly support our everyday life, requiring dependable robotics control software. Creating such software mainly amounts to implementing their complex behaviors known as missions. Recognizing the need, a large number of domain-specific specification languages has been proposed. These, in addition to traditional logical languages, allow the use of formally specified missions for synthesis, verification, simulation, or guiding the implementation. For instance, the logical language LTL is commonly used by experts to specify missions, as an input for planners, which synthesize the behavior a robot should have. Unfortunately, domain-specific languages are usually tied to specific robot models, while logical languages such as LTL are difficult to use by non-experts. We present a catalog of 22 mission specification patterns for mobile robots, together with tooling for instantiating, composing, and compiling the patterns to create mission specifications. The patterns provide solutions for recurrent specification problems, each of which detailing the usage intent, known uses, relationships to other patterns, and---most importantly---a template mission specification in temporal logic. Our tooling produces specifications expressed in the LTL and CTL temporal logics to be used by planners, simulators, or model checkers. The patterns originate from 245 realistic textual mission requirements extracted from the robotics literature, and they are evaluated upon a total of 441 real-world mission requirements and 1251 mission specifications. Five of these reflect scenarios we defined with two well-known industrial partners developing human-size robots. We validated our patterns' correctness with simulators and two real robots

    Automatic checking of the usage of the C++ move semantics

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    The C++ programming language is a favorable choice when implementing high performance applications, like real-time and embedded programming, large telecommunication systems, financial simulations, as well as a wide range of other speed sensitive programs. While C++ has all the facilities to handle the computer hardware without compromises, the copy based value semantics of assignment is a common source of performance degradation. New language features, like the move semantics were introduced recently to serve an instrument to avoid unnecessary copies. Unfortunately, correct usage of move semantics is not trivial, and unintentional expensive copies of C++ objects - like copying containers instead of using move semantics - may determine the main (worst-case) time characteristics of the programs. In this paper we introduce a new approach of investigating performance bottlenecks for C++ programs, which operates at language source level and targets the move semantics of the C++ programming language. We detect copies occurring in operations marked as move operations, i.e. intended not containing expensive copy actions. Move operations are marked with generalized attributes - a new language feature introduced to C++11 standard. We implemented a tool prototype to detect such copy/move semantic errors in C++ programs. Our prototype is using the open source LLVM/Clang parser infrastructure, therefore highly portable

    A heuristic-based approach to code-smell detection

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    Encapsulation and data hiding are central tenets of the object oriented paradigm. Deciding what data and behaviour to form into a class and where to draw the line between its public and private details can make the difference between a class that is an understandable, flexible and reusable abstraction and one which is not. This decision is a difficult one and may easily result in poor encapsulation which can then have serious implications for a number of system qualities. It is often hard to identify such encapsulation problems within large software systems until they cause a maintenance problem (which is usually too late) and attempting to perform such analysis manually can also be tedious and error prone. Two of the common encapsulation problems that can arise as a consequence of this decomposition process are data classes and god classes. Typically, these two problems occur together – data classes are lacking in functionality that has typically been sucked into an over-complicated and domineering god class. This paper describes the architecture of a tool which automatically detects data and god classes that has been developed as a plug-in for the Eclipse IDE. The technique has been evaluated in a controlled study on two large open source systems which compare the tool results to similar work by Marinescu, who employs a metrics-based approach to detecting such features. The study provides some valuable insights into the strengths and weaknesses of the two approache

    Verifying Real-Time Systems using Explicit-time Description Methods

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    Timed model checking has been extensively researched in recent years. Many new formalisms with time extensions and tools based on them have been presented. On the other hand, Explicit-Time Description Methods aim to verify real-time systems with general untimed model checkers. Lamport presented an explicit-time description method using a clock-ticking process (Tick) to simulate the passage of time together with a group of global variables for time requirements. This paper proposes a new explicit-time description method with no reliance on global variables. Instead, it uses rendezvous synchronization steps between the Tick process and each system process to simulate time. This new method achieves better modularity and facilitates usage of more complex timing constraints. The two explicit-time description methods are implemented in DIVINE, a well-known distributed-memory model checker. Preliminary experiment results show that our new method, with better modularity, is comparable to Lamport's method with respect to time and memory efficiency

    Really Natural Linear Indexed Type Checking

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    Recent works have shown the power of linear indexed type systems for enforcing complex program properties. These systems combine linear types with a language of type-level indices, allowing more fine-grained analyses. Such systems have been fruitfully applied in diverse domains, including implicit complexity and differential privacy. A natural way to enhance the expressiveness of this approach is by allowing the indices to depend on runtime information, in the spirit of dependent types. This approach is used in DFuzz, a language for differential privacy. The DFuzz type system relies on an index language supporting real and natural number arithmetic over constants and variables. Moreover, DFuzz uses a subtyping mechanism to make types more flexible. By themselves, linearity, dependency, and subtyping each require delicate handling when performing type checking or type inference; their combination increases this challenge substantially, as the features can interact in non-trivial ways. In this paper, we study the type-checking problem for DFuzz. We show how we can reduce type checking for (a simple extension of) DFuzz to constraint solving over a first-order theory of naturals and real numbers which, although undecidable, can often be handled in practice by standard numeric solvers
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