Towards formal models and languages for verifiable Multi-Robot Systems

Incorrect operations of a Multi-Robot System (MRS) may not only lead to unsatisfactory results, but can also cause economic losses and threats to safety. These threats may not always be apparent, since they may arise as unforeseen consequences of the interactions between elements of the system. This call for tools and techniques that can help in providing guarantees about MRSs behaviour. We think that, whenever possible, these guarantees should be backed up by formal proofs to complement traditional approaches based on testing and simulation. We believe that tailored linguistic support to specify MRSs is a major step towards this goal. In particular, reducing the gap between typical features of an MRS and the level of abstraction of the linguistic primitives would simplify both the specification of these systems and the verification of their properties. In this work, we review different agent-oriented languages and their features; we then consider a selection of case studies of interest and implement them useing the surveyed languages. We also evaluate and compare effectiveness of the proposed solution, considering, in particular, easiness of expressing non-trivial behaviour.Comment: Changed formattin

Formal Specification and Automatic Verification of Conditional Commitments

Developing and implementing a model checker dedicated to conditional logic with the user interface are urgent requirements for determining whether agents comply with their commitment protocols

Model Checking Trust-based Multi-Agent Systems

Trust has been the focus of many research projects, both theoretical and practical, in the recent years, particularly in domains where open multi-agent technologies are applied (e.g., Internet-based markets, Information retrieval, etc.). The importance of trust in such domains arises mainly because it provides a social control that regulates the relationships and interactions among agents. Despite the growing number of various multi-agent applications, they still encounter many challenges in their formal modeling and the verification of agents’ behaviors. Many formalisms and approaches that facilitate the specifications of trust in Multi-Agent Systems (MASs) can be found in the literature. However, most of these approaches focus on the cognitive side of trust where the trusting entity is normally capable of exhibiting properties about beliefs, desires, and intentions. Hence, the trust is considered as a belief of an agent (the truster) involving ability and willingness of the trustee to perform some actions for the truster. Nevertheless, in open MASs, entities can join and leave the interactions at any time. This means MASs will actually provide no guarantee about the behavior of their agents, which makes the capability of reasoning about trust and checking the existence of untrusted computations highly desired. This thesis aims to address the problem of modeling and verifying at design time trust in MASs by (1) considering a cognitive-independent view of trust where trust ingredients are seen from a non-epistemic angle, (2) introducing a logical language named Trust Computation Tree Logic (TCTL), which extends CTL with preconditional, conditional, and graded trust operators along with a set of reasoning postulates in order to explore its capabilities, (3) proposing a new accessibility relation which is needed to define the semantics of the trust modal operators. This accessibility relation is defined so that it captures the intuition of trust while being easily computable, (4) investigating the most intuitive and efficient algorithm for computing the trust set by developing, implementing, and experimenting different model checking techniques in order to compare between them in terms of memory consumption, efficiency, and scalability with regard to the number of considered agents, (5) evaluating the performance of the model checking techniques by analyzing the time and space complexity. The approach has been applied to different application domains to evaluate its computational performance and scalability. The obtained results reveal the effectiveness of the proposed approach, making it a promising methodology in practice

Model Checking for Decision Making System of Long Endurance Unmanned Surface Vehicle

This work aims to develop a model checking method to verify the decision making system of Unmanned Surface Vehicle (USV) in a long range surveillance mission. The scenario in this work was captured from a long endurance USV surveillance mission using C-Enduro, an USV manufactured by ASV Ltd. The C-Enduro USV may encounter multiple non-deterministic and concurrent problems including lost communication signals, collision risk and malfunction. The vehicle is designed to utilise multiple energy sources from solar panel, wind turbine and diesel generator. The energy state can be affected by the solar irradiance condition, wind condition, states of the diesel generator, sea current condition and states of the USV. In this research, the states and the interactive relations between environmental uncertainties, sensors, USV energy system, USV and Ground Control Station (GCS) decision making systems are abstracted and modelled successfully using Kripke models. The desirable properties to be verified are expressed using temporal logic statement and finally the safety properties and the long endurance properties are verified using the model checker MCMAS, a model checker for multi-agent systems. The verification results are analyzed and show the feasibility of applying model checking method to retrospect the desirable property of the USV decision making system. This method could assist researcher to identify potential design error of decision making system in advance

Specification and automatic verification of trust-based multi-agent systems

We present a new logic-based framework for modeling and automatically verifying trust in Multi-Agent Systems (MASs). We start by refining TCTL, a temporal logic of trust that extends the Computation Tree Logic (CTL) to enable reasoning about trust with preconditions. A new vector-based version of interpreted systems is defined to capture the trust relationship between the interacting parties. We introduce a set of reasoning postulates along with formal proofs to support our logic. Moreover, we present new symbolic model checking algorithms to formally and automatically verify the system under consideration against some desirable properties expressed using the proposed logic. We fully implemented our proposed algorithms as a model checker tool called MCMAS-T on top of the MCMAS model checker for MASs along with its new input language VISPL (Vector-extended ISPL). We evaluated the tool and reported experimental results using a real-life scenario in the healthcare field

Automatic Transformation-Based Model Checking of Multi-agent Systems

Multi-Agent Systems (MASs) are highly useful constructs in the context of real-world software applications. Built upon communication and interaction between autonomous agents, these systems are suitable to model and implement intelligent applications. Yet these desirable features are precisely what makes these systems very challenging to design, and their compliance with requirements extremely difficult to verify. This explains the need for the development of techniques and tools to model, understand, and implement interacting MASs. Among the different methods developed, the design-time verification techniques for MASs based on model checking offer the advantage of being formal and fully automated. We can distinguish between two different approaches used in model checking MASs, the direct verification approach, and the transformation-based approach. This thesis focuses on the later that relies on formal reduction techniques to transform the problem of model checking a source logic into that of an equivalent problem of model checking a target logic. In this thesis, we propose a new transformation framework leveraging the model checking of the computation tree logic (CTL) and its NuSMV model checker to design and implement the process of transformation-based model checking for CTL-extension logics to MASs. The approach provides an integrated system with a rich set of features, designed to support the transformation process while simplifying the most challenging and error-prone tasks. The thesis presents and describes the tool built upon this framework and its different applications. A performance comparison with MCMAS, the model checker of MASs, is also discussed

Logic-based Technologies for Multi-agent Systems: A Systematic Literature Review

Precisely when the success of artificial intelligence (AI) sub-symbolic techniques makes them be identified with the whole AI by many non-computerscientists and non-technical media, symbolic approaches are getting more and more attention as those that could make AI amenable to human understanding. Given the recurring cycles in the AI history, we expect that a revamp of technologies often tagged as “classical AI” – in particular, logic-based ones will take place in the next few years. On the other hand, agents and multi-agent systems (MAS) have been at the core of the design of intelligent systems since their very beginning, and their long-term connection with logic-based technologies, which characterised their early days, might open new ways to engineer explainable intelligent systems. This is why understanding the current status of logic-based technologies for MAS is nowadays of paramount importance. Accordingly, this paper aims at providing a comprehensive view of those technologies by making them the subject of a systematic literature review (SLR). The resulting technologies are discussed and evaluated from two different perspectives: the MAS and the logic-based ones

Agents and Robots for Reliable Engineered Autonomy

This book contains the contributions of the Special Issue entitled "Agents and Robots for Reliable Engineered Autonomy". The Special Issue was based on the successful first edition of the "Workshop on Agents and Robots for reliable Engineered Autonomy" (AREA 2020), co-located with the 24th European Conference on Artificial Intelligence (ECAI 2020). The aim was to bring together researchers from autonomous agents, as well as software engineering and robotics communities, as combining knowledge from these three research areas may lead to innovative approaches that solve complex problems related to the verification and validation of autonomous robotic systems

Validation and Verification of Safety-Critical Systems in Avionics

This research addresses the issues of safety-critical systems verification and validation. Safety-critical systems such as avionics systems are complex embedded systems. They are composed of several hardware and software components whose integration requires verification and testing in compliance with the Radio Technical Commission for Aeronautics standards and their supplements (RTCA DO-178C). Avionics software requires certification before its deployment into an aircraft system, and testing is mandatory for certification. Until now, the avionics industry has relied on expensive manual testing. The industry is searching for better (quicker and less costly) solutions. This research investigates formal verification and automatic test case generation approaches to enhance the quality of avionics software systems, ensure their conformity to the standard, and to provide artifacts that support their certification. The contributions of this thesis are in model-based automatic test case generations approaches that satisfy MC/DC criterion, and bidirectional requirement traceability between low-level requirements (LLRs) and test cases. In the first contribution, we integrate model-based verification of properties and automatic test case generation in a single framework. The system is modeled as an extended finite state machine model (EFSM) that supports both the verification of properties and automatic test case generation. The EFSM models the control and dataflow aspects of the system. For verification, we model the system and some properties and ensure that properties are correctly propagated to the implementation via mandatory testing. For testing, we extended an existing test case generation approach with MC/DC criterion to satisfy RTCA DO-178C requirements. Both local test cases for each component and global test cases for their integration are generated. The second contribution is a model checking-based approach for automatic test case generation. In the third contribution, we developed an EFSM-based approach that uses constraints solving to handle test case feasibility and addresses bidirectional requirements traceability between LLRs and test cases. Traceability elements are determined at a low-level of granularity, and then identified, linked to their source artifact, created, stored, and retrieved for several purposes. Requirements’ traceability has been extensively studied but not at the proposed low-level of granularity