Abstract | ||
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We investigate navigation algorithms, and specifically path planning, a fundamental function of autonomous robots. We formally address the issue of enhancing reliability of the widely-used A* path planning algorithm. In our step-wise refinement process, we capture successively more concrete specifications by transforming a high-level specification into an equivalent executable program. To elaborate an initial representation of the A* algorithm, we express it in an abstract and intuitive, yet formal, description. We use traditional mathematical concepts, such as sets, functions and predicate logic to capture this description. We then use the Z specification language to effect the transformation from the mathematical description into Z schemas, thus obtaining a formal specification. We use CZT to perform syntax and type checking and the Z/EVES tool to automatically prove some properties about the specification. Subsequently, we use the Z formal refinement theory to generate the implementation specification. This stage involves both data and operation refinement and is carried out in several basic sub-steps. A Java-based simulation prototype that mirrors the implementation specification is developed in order to demonstrate the applicability of our software development approach. |
Year | DOI | Venue |
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2016 | 10.1109/INNOVATIONS.2016.7880015 | 2016 12th International Conference on Innovations in Information Technology (IIT) |
Keywords | Field | DocType |
path planning,A∗ algorithm,formal specification,refinement,mobile robot simulation | Specification language,Data mining,Programming language,Computer science,Theoretical computer science,Formal specification,Language Of Temporal Ordering Specification,Refinement,Formal methods,Predicate logic,Software development,Executable | Conference |
ISSN | ISBN | Citations |
1819-9127 | 978-1-5090-5344-5 | 2 |
PageRank | References | Authors |
0.38 | 9 | 2 |
Name | Order | Citations | PageRank |
---|---|---|---|
Eman Rabiah | 1 | 2 | 0.38 |
Boumediene Belkhouche | 2 | 55 | 17.44 |