ROS中XML-RPC协议实现的形式化验证

Formal Verification of XML-RPC Protocol in ROS

XML-RPC协议是ROS节点通讯的核心调用机制,其实现的正确性关乎整个系统的顺利运行.使用模型检测和定理证明结合的方法对ROS系统中的XML-RPC协议进行验证.首先使用CBMC模型检测工具逐个验证协议源代码的函数,然后对模型检测不能全面验证的循环结构使用霍尔逻辑建立模型并在Isabelle/HOL定理证明器中验证.本文的工作结合两种形式化方法的优点,既克服了定理证明人工干预过多、工作量繁杂的问题,又避免了模型检测中出现状态爆炸的问题.

XML-RPC protocol is the core of the invocation mechanism in ROS system. The correctness of the protocol implementation is crucial to the ROS system Operate safely. This paper presents properties validation of XML-RPC protocol in ROS system with the method of model checking and theorem proving. Our work exploits the cooperation of Bounded model checking and theorem proving, to show the correctness of XML-RPC protocol, implemented CBMC and with respect to the loop structure that it cannot fully validated in CBMC,formalized in IsabeUe/HOL. The paper has demonstrated a successful application of the linkage between theorem proving and model checking in a proof that takes advantage of the strengths of the respective proof assistants. This not only can overcome the problems occurring in the theorem proving, but also can avoid the emergence of model checking.