By the same authors

From Formalised State Machines to Implementations of Robotic Controllers

Research output: Working paper

Standard

From Formalised State Machines to Implementations of Robotic Controllers. / Li, Wei; Miyazawa, Alvaro; De Oliveira Salazar Ribeiro, Pedro Fernando; Cavalcanti, Ana; Woodcock, Jim; Timmis, Jon.

2017.

Research output: Working paper

Harvard

Li, W, Miyazawa, A, De Oliveira Salazar Ribeiro, PF, Cavalcanti, A, Woodcock, J & Timmis, J 2017 'From Formalised State Machines to Implementations of Robotic Controllers'.

APA

Li, W., Miyazawa, A., De Oliveira Salazar Ribeiro, P. F., Cavalcanti, A., Woodcock, J., & Timmis, J. (2017). From Formalised State Machines to Implementations of Robotic Controllers.

Vancouver

Li W, Miyazawa A, De Oliveira Salazar Ribeiro PF, Cavalcanti A, Woodcock J, Timmis J. From Formalised State Machines to Implementations of Robotic Controllers. 2017 Feb 6.

Author

Li, Wei ; Miyazawa, Alvaro ; De Oliveira Salazar Ribeiro, Pedro Fernando ; Cavalcanti, Ana ; Woodcock, Jim ; Timmis, Jon. / From Formalised State Machines to Implementations of Robotic Controllers. 2017.

Bibtex - Download

@techreport{5e618813667740dcbf87c7c93488fd6b,
title = "From Formalised State Machines to Implementations of Robotic Controllers",
abstract = "Controllers for autonomous robotic systems can be specified using state machines. However, these are typically developed in an ad hoc manner without formal semantics, which makes it difficult to analyse the controller. Simulations are often used during the development, but a rigorous connection between the designed controller and the implementation is often overlooked. This paper presents a state-machine based notation, RoboChart, together with a tool to automatically create code from the state machines, establishing a rigorous connection between specification and implementation. In RoboChart, a robot's controller is specified either graphically or using a textual description language. The controller code for simulation is automatically generated through a direct mapping from the specification. We demonstrate our approach using two case studies (self-organized aggregation and swarm taxis) in swarm robotics. The simulations are presented using two different simulators showing the general applicability of our approach.",
keywords = "cs.RO, cs.SE",
author = "Wei Li and Alvaro Miyazawa and {De Oliveira Salazar Ribeiro}, {Pedro Fernando} and Ana Cavalcanti and Jim Woodcock and Jon Timmis",
note = "camera-ready version in DARS 2016",
year = "2017",
month = feb,
day = "6",
language = "Undefined/Unknown",
type = "WorkingPaper",

}

RIS (suitable for import to EndNote) - Download

TY - UNPB

T1 - From Formalised State Machines to Implementations of Robotic Controllers

AU - Li, Wei

AU - Miyazawa, Alvaro

AU - De Oliveira Salazar Ribeiro, Pedro Fernando

AU - Cavalcanti, Ana

AU - Woodcock, Jim

AU - Timmis, Jon

N1 - camera-ready version in DARS 2016

PY - 2017/2/6

Y1 - 2017/2/6

N2 - Controllers for autonomous robotic systems can be specified using state machines. However, these are typically developed in an ad hoc manner without formal semantics, which makes it difficult to analyse the controller. Simulations are often used during the development, but a rigorous connection between the designed controller and the implementation is often overlooked. This paper presents a state-machine based notation, RoboChart, together with a tool to automatically create code from the state machines, establishing a rigorous connection between specification and implementation. In RoboChart, a robot's controller is specified either graphically or using a textual description language. The controller code for simulation is automatically generated through a direct mapping from the specification. We demonstrate our approach using two case studies (self-organized aggregation and swarm taxis) in swarm robotics. The simulations are presented using two different simulators showing the general applicability of our approach.

AB - Controllers for autonomous robotic systems can be specified using state machines. However, these are typically developed in an ad hoc manner without formal semantics, which makes it difficult to analyse the controller. Simulations are often used during the development, but a rigorous connection between the designed controller and the implementation is often overlooked. This paper presents a state-machine based notation, RoboChart, together with a tool to automatically create code from the state machines, establishing a rigorous connection between specification and implementation. In RoboChart, a robot's controller is specified either graphically or using a textual description language. The controller code for simulation is automatically generated through a direct mapping from the specification. We demonstrate our approach using two case studies (self-organized aggregation and swarm taxis) in swarm robotics. The simulations are presented using two different simulators showing the general applicability of our approach.

KW - cs.RO

KW - cs.SE

M3 - Working paper

BT - From Formalised State Machines to Implementations of Robotic Controllers

ER -

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