Search arXiv⌕ Search
Home/Archive/arXiv

arXiv · 2208.05507

A Compositional Approach to Verifying Modular Robotic Systems

Matt Luckcuck·Marie Farrell·Angelo Ferrando·Rafael C. Cardoso·Louise A. Dennis·Michael Fisher
View original source ↗Read source document ↗Export metadata ↓

Abstract

Robotic systems used in safety-critical scenarios often rely on modular software architectures, and increasingly include autonomous components. Verifying that these modular robotic systems behave as expected requires approaches that can cope with, and preferably take advantage of, this inherent modularity. This paper describes a compositional approach to specifying the nodes in robotic systems built using the Robot Operating System (ROS), where each node is specified using First-Order Logic (FOL) Assume-Guarantee contracts that link the specification to the ROS implementation. We introduce inference rules that facilitate the composition of these node-level contracts to derive system-level properties. We also present a novel Domain-Specific Language, the ROS Contract Language (RCL), which captures a node's FOL specification and links this contract to its implementation. RCL contracts can be automatically translated, by our tool Vanda, into executable monitors; which we use to verify the contracts at runtime. We illustrate our approach through the specification and verification of an autonomous rover engaged in the remote inspection of a nuclear site, and finish with smaller examples that illustrate other useful features of our framework.

Explore related subjects

cs.LOcs.SE

Keep this discovery

Explore connections, maps & timelines

BibTeXRIS

Matt Luckcuck, Marie Farrell, Angelo Ferrando, Rafael C. Cardoso, Louise A. Dennis, Michael Fisher. 2026-07-31. A Compositional Approach to Verifying Modular Robotic Systems. https://doi.org/10.1016/j.robot.2026.105648

Cite the original work for its findings. Save a collection to share your selection of sources.

KEEP EXPLORING

Related papers

arXiv2026

Differential Equations as Fixpoints and Games

Games and fixpoints are unified by proving that first-order game logic GL and the first-order modal mu-calculus L_mu are proved to be equiexpressive and equivalent, thereby fully aligning their expressive and deductive power. That is, there is a semantics-preserving translation from GL to L_mu, and vice versa. And both translations are provability-preserving, while equivalence with there-and-back-again roundtrip translations are provable in both calculi. This is to be contrasted with the propositional case, where game logic is strictly less expressive than the modal mu-calculus (without adding sabotage games). The extensions with differential equations, differential game logic (dGL) and differential modal mu-calculus, are also proved equiexpressive and equivalent. Moreover, as the continuous dynamics are definable by fixpoints or via games, ODEs can be axiomatized completely and, as a consequence, infinitesimally robust properties of ODEs can be decided via proof search. Rational gameplay provably collapses the games into single-player games to yield a strong arithmetical completeness theorem for dGL with rational-time ODEs.

cs.LO↗
arXiv2026

Self-extensional logics of formal inconsistency: Decidability and limits for paraconsistency

RmbC is a self-extensional paraconsistent logic in the family of Logics of Formal Inconsistency (LFIs). This system is obtained from mbC (the basic LFI) by adding the replacement property via two global inference rules. RmbC is characterized by a non-explosive negation $\neg$ and a consistency operator $\circ$, which recovers the principle of explosion in a controlled way. Together with its principal axiomatic extensions, RmbC admits a standard Lindenbaum-Tarski algebraization, with Boolean algebras with LFI operators (BALFIs) as its algebraic semantics. In this paper, we study how far this self-extensional paraconsistent behavior can be extended axiomatically, starting from RmbC. We classify pairs of very natural consistency axioms according to whether they preserve paraconsistency or force classical collapse; identify six minimal explosive combinations that collapse to a single algebraic core; and isolate a separate structural obstruction for the combination of excluded middle for $\neg$ with an involutive negation. We also investigate, for the first time, the decidability of this family of self-extensional LFIs. As a first result, we prove the finite model property for RmbC with respect to BALFI semantics via an algebraic filtration, which yields decidability, and transfer this result to several paraconsistent axiomatic extensions of RmbC. Finally, we establish a coNEXPTIME upper bound for the validity problem of RmbC and a coNP-hardness lower bound, and prove coNP-completeness for the principal extensions containing one of the six minimal explosive pairs.

cs.LO↗
arXiv2026

The Stochastic Target Discounted-Sum Problem

The target discounted-sum problem (TDS) asks, given a finite integer alphabet $Σ$, a rational discount factor $λ$, and a rational target $t$, whether some infinite sequence over $Σ$ has discounted sum exactly $t$. This problem remains open and underlies several open questions in automata theory, games, and Markov decision processes. We introduce and solve its stochastic counterpart, the stochastic target discounted-sum problem, which replaces existence by computation of the probability. We show that the probability that a random sequence generated by a finite Markov chain has discounted sum $t$ is rational and computable in pseudo-polynomial time. We further show how to decide, in polynomial time, whether the discounted-sum distribution of a Markov chain is atomless, and how to approximate to an arbitrary precision the probability that the discounted sum exceeds a rational threshold. Our techniques for the stochastic TDS problem allow us to make progress on TDS objectives in stochastic games, which are known to be as hard as the TDS problem. Restricting the maximizing player to finite-memory strategies, while allowing the minimizing player to use arbitrary strategies, we reduce the value problem and the synthesis problem to corresponding problems for safety objectives in stochastic games. This yields computable optimal values and deterministic optimal strategies with pseudo-polynomially bounded memory for stochastic games, and results in pseudo-polynomial-time algorithms for special cases of Markov decision processes and deterministic two-player games.

cs.LO↗