Research output: Working paper
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
}
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 -