Files can be found here: Examples/FollowMode-CaseStudy2021
Skeditor is a framework to model provably correct (driving) maneuvers based on skill graphs and hybrid programs. Provably correct means that an adequate maneuver should never violate any identified safety requirements during its execution. Skills (nodes) in a skill graph are component abstractions that can either be part of the input/source (sensors and data processing), the actual controller, or the output/sink (actuators). Each of these abstractions can be specified with FOL contracts to enable modular formal verification. Based on the global contract (precondition and postcondition) of the modeled maneuver, overall safety correctness of the maneuver can be established in the lab at design time!
This project focueses on prototyping such maneuvers to quickly evaluate the quality of the specification. Goal is to increase trust in the safety of such maneuvers to a maximal degree. This includes:
- Analyzing well-formedness of the models,
- verifying each skill individually and the complete maneuver to establish correctness proofs,
- but also to simulate the modeled maneuver using ROS or AirSim, to see whether the correct specification is enough to be actually safe.
Due to their compositional nature, skills and verification results can be reused accross driving maneuvers, making them good candidates for integrating them into a development process.
Skeditor is a set of Eclipse-Plugins based on graphiti and EMF. (tbd)
- Skill-based Verification of Cyber-Physical Systems
Alexander Knüppel, Inga Jatzkowski, Marcus Nolte, Thomas Thüm, Tobias Runge, and Ina Schaefer. Fundamental Approaches to Software Engineering (FASE). Springer, 2020. [pdf] - A Maneuver-Centric Formal Engineering Approach for Cyber-Physical Systems
Alexander Kittelmann (formerly Knüppel). PhD Dissertation, TU Braunschweig, 2022. [pdf]