Visual-Trace Simulation of Concurrent Finite-State Machines for Validation and Model-Checking of Complex Behaviour
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Simulation of models that specify behaviour of software in robots, embedded systems, and safety critical systems is crucial to ensure correctness. This is particularly important in conjunction with model- driven development, which is highly prevalent due to its numerous ben- efits. We use vectors of finite-state machines (FSMs) as our modelling tool. Our FSMs can have their transitions labeled by expressions of a common sense logic, and they are more expressive than other modelling approaches (such as Behavior Trees, Petri nets, or plain FSMs). We inter- pret the models using the same round-robin scheduler which is integrated into the simulator. Execution on a platform is exactly the same as in the simulator (where sensors and actuators are masqueraded by proxies) and coincides with the generator of the Kripke structure for formal model- checking. In three ubiquitous case studies we show that our simulation discovers issues where those models were incomplete, ambiguous, or in- correct. This further illustrates that simulation and monitoring need to complement formal verification.
Lecture Notes in Computer science
© 2012 Springer Berlin / Heidelberg. This is the author-manuscript version of this paper. Reproduced in accordance with the copyright policy of the publisher. The original publication is available at www.springerlink.com
Adaptive Agents and Intelligent Robotics