Abstract
The Robot Operating System (ROS) is one of the most popular open source robotic frameworks, and has contributed significantly to the fast development of robotics. Even though ROS provides many ready-made components, a robotic system is inherently complex, in particular regarding the architecture and orchestration of such components. Availability and analysis of a system's architecture at compile time is fundamental to ease comprehension and development of higher-quality software. However, ROS developers have to overcome this complexity relying mostly on testing and runtime visualisers. This work aims to enhance static-time support by proposing, firstly, a metamodel to describe the software architecture of ROS systems (the ROS Computation Graph) and, secondly, model extraction and visualisation tools for such architectural models. The provided tools allow users to specify custom-made queries over these models, enabling the static verification of relevant properties that had to be (manually) checked at runtime before.

Abstract
Formal modeling and automatic analysis are essential to achieve a trustworthy software design prior to its implementation. Alloy and its Analyzer are a popular language and tool for this task. Frequently, rather than a single software artifact, the goal is to develop a full software product line (SPL) with many variants supporting different features. Ideally, software design languages and tools should provide support for analyzing all such variants (e.g., by helping pinpoint combinations of features that could break a property), but that is not currently the case. Even when developing a single artifact, support for multi-variant analysis is desirable to explore design alternatives. Several techniques have been proposed to simplify the implementation of SPLs. One such technique is to use background colors to identify the fragments of code associated with each feature. In this paper we propose to use that same technique for formal design, showing how to add support for features and background colors to Alloy and its Analyzer, thus easing the analysis of software design variants. Some illustrative examples and evaluation results are presented, showing the benefits and efficiency of the implemented technique. © Springer Nature Switzerland AG 2019.

Abstract
Most model checkers provide a useful simulation mode, that allows users to explore the set of possible behaviours by interactively picking at each state which event to execute next. Traditionally this simulation mode cannot take into consideration additional temporal logic constraints, such as arbitrary fairness restrictions, substantially reducing its usability for debugging the modelled system behaviour. Similarly, when a specification is false, even if all its counter-examples combined also form a set of behaviours, most model checkers only present one of them to the user, providing little or no mechanism to explore alternatives. In this paper, we present a simple on-the-fly verification technique to allow the user to explore the behaviours that satisfy an arbitrary temporal logic specification, with an interactive process akin to simulation. This technique enables a unified interface for simulating the modelled system and exploring its counter-examples. The technique is formalised in the framework of state/event linear temporal logic and a proof of concept was implemented in an event-based variant of the Electrum framework. © J. Brunel, D. Chemouil, A. Cunha, & N. Macedo.

Abstract
Building and maintaining complex systems requires good software engineering practices, including code modularity and reuse. The same applies in the context of coordination of complex component-based systems. This paper investigates how to verify properties of complex coordination patterns built hierarchically, i.e., built from composing blocks that are in turn built from smaller blocks. Most existing approaches to verify properties flatten these hierarchical models before the verification process, losing the hierarchical structure. We propose an approach to verify hierarchical models using containers as actions; more concretely, containers interacting with their neighbours. We present a dynamic modal logic tailored for hierarchical connectors, using Reo and Petri Nets to illustrate our approach. We realise our approach via a prototype implementation available online to verify hierarchical Reo connectors, encoding connectors and formulas into mCRL2 specifications and formulas. © 2019, IFIP International Federation for Information Processing.

Abstract
Petri nets play a central role in the formal modelling of a wide range of complex systems and scenarios. Their ability to handle with both concurrency and resource awareness justifies their spread in the current formal development practices. On the logic side, Dynamic Logics are widely accepted as the de facto formalisms to reason about computational systems. However, as usual, the application to new situations raises new challenges and issues. The ubiquity of failures in the execution of current systems, interpreted in these models as triggered events that are not followed by the corresponding transition, entails not only the adjustment of these structures to deal with this reality, but also the introduction of new logics adequate to this emerging phenomenon. This paper contributes to this challenge by exploring a combination of two previous works of the authors, namely the Propositional Dynamic Logic for Petri Nets [1] and a parametric construction of multi-valued dynamic logics presented in [13]. This exercise results in a new family of Dynamic Logics for Petri Nets suitable to deal with firing failures. © 2019, IFIP International Federation for Information Processing.