Analysing robot movement using the SENSORIA methods

In this paper, we give a recount of the application of SENSORIA approaches, languages, and tools to the modeling of movement of the robot that has taken the lead role in SENSORIA demonstrations at the exhibitions ICT 2008 in Lyon and FET 2009 in Prague. The demos were centred around a robot-bowling game that actively involved the visitors in programming a robot that plays bowling, using some of the techniques developed in SENSORIA in order to predict the outcomes of the game according to their design choices. Specifically, the SENSORIA techniques have been used for the analysis of functional and nonfunctional properties of the system, both in the expost analysis of the robot movement during the demo and in the exante analysis of the possible robot configurations during the design of the robot and of the demo itself. This paper presents how the techniques have been applied and to what extent the results of the application match the real robot behavior. The SENSORIA modeling and analysis techniques used are the UML4SOA graphical modeling language, the Performance Evaluation Process Algebra PEPA, the UMC model checker and the Markovian process algebra MarCaSPiS.