Synthesizing a Lego Forklift Controller in GR(1): A Case Study

Reactive synthesis is an automated procedure to obtain a correct-by-construction reactive system from a given specification. GR(1) is a well-known fragment of linear temporal logic (LTL) where synthesis is possible using a polynomial symbolic algorithm. We conducted a case study to learn about the challenges that software engineers may face when using GR(1) synthesis for the development of a reactive robotic system. In the case study we developed two variants of a forklift controller, deployed on a Lego robot. The case study employs LTL specification patterns as an extension of the GR(1) specification language, an examination of two specification variants for execution scheduling, traceability from the synthesized controller to constraints in the specification, and generated counter strategies to support understanding reasons for unrealizability. We present the specifications we developed, our observations, and challenges faced during the case study.Comment: In Proceedings SYNT 2015, arXiv:1602.0078

Mining Hierarchical Scenario-Based Specifications

Abstract—Scalability over long traces, as well as comprehensibility and expressivity of results, are major challenges for dynamic analysis approaches to specification mining. In this work we present a novel use of object hierarchies over traces of inter-object method calls, as an abstraction/refinement mechanism that enables user-guided, top-down or bottom-up mining of layered scenario-based specifications, broken down by hierarchies embedded in the system under investigation. We do this using data mining methods that provide statistically significant sound and complete results modulo user-defined thresholds, in the context of Damm and Harel’s live sequence charts (LSC); a visual, modal, scenario-based, inter-object language. Thus, scalability, comprehensibility, and expressivity are all addressed. Our technical contribution includes a formal definition of hierarchical inter-object traces, and algorithms for ‘zoomingout’ and ‘zooming-in’, used to move between abstraction levels on the mined specifications. An evaluation of our approach based on several case studies shows promising results. I