RoboChart: modelling and verification of the functional behaviour of robotic applications

Alvaro Miyazawa*, Pedro Ribeiro, Wei Li, Ana Cavalcanti, Jon Timmis, Jim Woodcock

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

71 Citations (SciVal)


Robots are becoming ubiquitous: from vacuum cleaners to driverless cars, there is a wide variety of applications, many with potential safety hazards. The work presented in this paper proposes a set of constructs suitable for both modelling robotic applications and supporting verification via model checking and theorem proving. Our goal is to support roboticists in writing models and applying modern verification techniques using a language familiar to them. To that end, we present RoboChart, a domain-specific modelling language based on UML, but with a restricted set of constructs to enable a simplified semantics and automated reasoning. We present the RoboChart metamodel, its well-formedness rules, and its process-algebraic semantics. We discuss verification based on these foundations using an implementation of RoboChart and its semantics as a set of Eclipse plug-ins called RoboTool.

Original languageEnglish
Pages (from-to)3097-3149
Number of pages53
JournalSoftware and Systems Modeling
Issue number5
Publication statusPublished - 01 Oct 2019


  • CSP
  • Domain-specific language for robotics
  • Formal semantics
  • Model checking
  • Process algebra
  • State machines
  • Timed properties


Dive into the research topics of 'RoboChart: modelling and verification of the functional behaviour of robotic applications'. Together they form a unique fingerprint.

Cite this