We present RoboSimVer, a tool for modeling and analyzing RoboSim Models. It uses a graphical modeling approach to model platform-independent simulation models of Robotics called RoboSim. For model analysis, we implemented a model-transformation approach to translate RoboSim models into NTA (Network of Timed Automata) and its stochastic version SHA (Stochastic Hybrid Automata) based on some patterns and mapping rules. RoboSimVer is able to get a simulation model. It also provides different rigorous verification techniques to check whether the simulation models satisfy property constraints. For experimental demonstrations, we adopt the case study Alpha algorithm for robotics. We use a robotic platform model of swarm robots in an uncertain environment, to illustrate how our tool supports the verification of stochastic and hybrid systems. The demonstration video of the tool is available at https://youtu.be/mNe4q64GkmQ

Dehui Du

East China Normal University

Ana Cavalcanti

University of York

United Kingdom

JihuiNie

East China Normal University

Autonomous Driving Systems (ADS) require extensive evaluation of safety before they can come onto the market. However, since relying solely on field testing is practically infeasible due to the impossibility to cover sufficient distances to ensure adequate safety, the focus shifted to scenario-based testing. In this paper, we proposed Scenario Modeling Language for Autonomous Driving (SML4ADS) as a Domain-Specific Modeling Language (DSML) for scenario representation and generation. Compared to other existing works, our approach simplifies the description of scenarios in a non-programming, user-friendly manner, allows modeling the uncertain behavior of vehicles in a scenario and generating executable scenario in CARLA. We apply SML4ADS in numerous typical scenarios to preliminarily demonstrate the effectiveness and feasibility of our approach in modeling and generating executable scenarios.

Bo Li

East China Normal University

Dehui Du

East China Normal University

Sicong Chen

East China Normal University

Minjun Wei

East China Normal University

Chenghang Zheng

East China Normal University

Xinyuan Zhang

East China Normal University