一个经过验证的无人机飞行计划生成器

2023 IEEE/ACM 11th International Conference on Formal Methods in Software Engineering (FormaliSE) Pub Date : 2023-05-01 DOI:10.1109/FormaliSE58978.2023.00021

Baptiste Pollien, C. Garion, G. Hattenberger, P. Roux, X. Thirioux

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引用次数: 0

摘要

FPL是一种领域特定语言，用于为Paparazzi开源自动驾驶仪指定复杂的无人机任务。FPL任务被编译成C代码，直接嵌入到自动驾驶代码中。FPL到C代码生成器，目前用OCaml编写，因此是解决无人机安全问题的关键组件。本文给出了FPL编译过程的形式化验证。首先，我们在Coq中开发了一个新的三遍代码生成器，目标是CompCert套件中的Clight中间语言。然后，我们正式定义了FPL的操作语义。最后，我们证明了FPL语义和light语义之间的双仿真关系。在形式化和验证过程中，我们还揭示了原始Paparazzi代码生成器中的几个问题。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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A Verified UAV Flight Plan Generator

FPL is a domain specific language used to specify complex drone missions for the Paparazzi open-source autopilot. FPL missions are compiled into C code that is directly embedded into the autopilot code. The FPL to C code generator, currently written in OCaml, is therefore a critical component when addressing the drone safety. This paper presents the formal verification of the FPL compilation process. First, we have developed in Coq a new three-pass code generator, targeting the Clight intermediate language from the CompCert suite. We have then formally defined an operational semantics for FPL. Finally, we have proved a bisimulation relation between FPL semantics and Clight semantics. In the course of the formalization and verification process, we have also unveiled several problems in the original Paparazzi code generator.

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2023 IEEE/ACM 11th International Conference on Formal Methods in Software Engineering (FormaliSE)

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