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The Plan Execution Interchange Language (PLEXIL) is a synchronous languagedeveloped by NASA to support autonomous spacecraft operations. In this paper,we propose a rewriting logic semantics of PLEXIL in Maude, a high-performancelogical engine. The rewriting logic semantics is by itself a formal interpreterof the language and can be used as a semantic benchmark for the implementationof PLEXIL executives. The implementation in Maude has the additional benefit ofmaking available to PLEXIL designers and developers all the formal analysis andverification tools provided by Maude. The formalization of the PLEXIL semanticsin rewriting logic poses an interesting challenge due to the synchronous natureof the language and the prioritized rules defining its semantics. To overcomethis difficulty, we propose a general procedure for simulating synchronous setrelations in rewriting logic that is sound and, for deterministic relations,complete. We also report on two issues at the design level of the originalPLEXIL semantics that were identified with the help of the executablespecification in Maude.

Rewriting Logic Semantics of a Plan Execution Language