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The need for high-level autonomy and robustness of autonomous systems formissions in dynamic and remote environment has pushed developers to come upwith new software architectures. A common architecture style is to summarizethe capabilities of the robotic system into elementary actions, called skills,on top of which a skill management layer is implemented to structure, test andcontrol the functional layer. However, current available verification toolsonly provide either mission-specific verification or verification on a modelthat does not replicate the actual execution of the system, which makes itdifficult to ensure its robustness to unexpected events. To that end, a tool,SkiNet, has been developed to transform the skill-based architecture of asystem into a Petri net modeling the state-machine behaviors of the skills andthe resources they handle. The Petri net allows the use of model-checking, suchas Linear Temporal Logic (LTL) or Computational Tree Logic (CTL), for the userto analyze and verify the model of the system.

SkiNet, A Petri Net Generation Tool for the Verification of Skillset-based Autonomous Systems