Deterministic Executable Models Verified Efficiently at Runtime: An Architecture for Robotic and Embedded Systems

Abstract

We show an architecture that enables runtime verification. Runtime verification focusses on the design of formal languages for the specification of properties that must hold during runtime. In this paper, we take matters one step further and describe a uniform modelling and development paradigm for software systems that can monitor the quality of software systems as they execute, set-up, tear-down and enforce quality behaviour on the fly. Our paradigm for modelling behaviour enables efficient execution, validation, simulation, and runtimeverification. The models are executable and efficient because they are compiled (not interpreted). Moreover, they can be developed using test-driven development, where tests are models derived from requirements. We illustrate the approach with case studies from robotics and embedded systems.