A preliminary version of this specification language, along with a practical application scenario, was published in
Carvalho R, Cunha A, Macedo N, Santos A. Verification of system-wide safety properties of ROS applications.
You can find the paper here.
If you use HPL as part of your work, please cite this paper. Here follows a BibTeX entry:
@inproceedings{CarvalhoCMS:20,
author = {Renato Carvalho and Alcino Cunha and Nuno Macedo and Andr{\'{e}} Santos},
title = {Verification of System-Wide Safety Properties of {ROS} Applications},
booktitle = {{IEEE/RSJ} International Conference on Intelligent Robots and Systems ({IROS})},
publisher = {{IEEE}},
year = {2020},
}