In this paper we discuss the application of formal methods for the verification of propertiesof control systems designed for autonomous robotic systems.We illustrate our proposal in the context of surgery by considering the automatic executionof a simple action such as puncturing.To prove that a sequence of subtasks planned on pre-operative datacan successfully accomplish the surgical operation despite modeluncertainties, we specify the problem by using hybrid automata.We express the requirements of interest as questions aboutreachability properties of the hybrid automaton model.Then, we compare the different performance of current state-of-the art tools for reachability analysis of hybrid automata.
Verification of Robotic Surgery Tasks by Reachability Analysis: a Comparison of Tools
BRESOLIN, Davide;GERETTI, Luca;MURADORE, Riccardo;FIORINI, Paolo;VILLA, Tiziano
2014-01-01
Abstract
In this paper we discuss the application of formal methods for the verification of propertiesof control systems designed for autonomous robotic systems.We illustrate our proposal in the context of surgery by considering the automatic executionof a simple action such as puncturing.To prove that a sequence of subtasks planned on pre-operative datacan successfully accomplish the surgical operation despite modeluncertainties, we specify the problem by using hybrid automata.We express the requirements of interest as questions aboutreachability properties of the hybrid automaton model.Then, we compare the different performance of current state-of-the art tools for reachability analysis of hybrid automata.
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