Trustworthy ROS Software Architecture for Autonomous Drones Missions: From RoboChart Modelling to ROS Implementation

TY - GEN

T1 - Trustworthy ROS Software Architecture for Autonomous Drones Missions

T2 - 20th IEEE/ASME International Conference on Mechatronic, Embedded Systems and Applications, MESA 2024

AU - Shaukat, Nabil

AU - Dubey, Shival

AU - Kaddouh, Bilal

AU - Blight, Andy

AU - Mudrich, Lenka

AU - Ribeiro, Pedro

AU - Araujo, Hugo

AU - Richardson, Rob

AU - Dennis, Louise

AU - Cavalcanti, Ana

AU - Mousavi, Mohammad

N1 - Publisher Copyright: ©2024 IEEE.

PY - 2024/10/9

Y1 - 2024/10/9

N2 - Drones are becoming essential tools in emergency situations such as search and rescue, surveillance, and firefighting. These applications make the development of trustworthy software a priority to increase efficiency, cut costs, and reduce risks, in future replacing human personnel in challenging areas. RoboChart, a platform-agnostic tool, brings numerous benefits to the robotics community by providing a language and high-level tool to describe a model via automatic verification and exhaustive testing of the model. However, when it comes to real robotics it is essential to use testing tools suitable for specific robotic software. In the context of the Robotic Operating System (ROS), it imposes its own design constraints, best practices, and communication requirements. This paper aims to apply the RoboChart modelling approach to autonomous firefighting drones, putting forward a low-level ROS software architecture that aligns with RoboChart models, ensuring the trustworthiness of the system during operation.

AB - Drones are becoming essential tools in emergency situations such as search and rescue, surveillance, and firefighting. These applications make the development of trustworthy software a priority to increase efficiency, cut costs, and reduce risks, in future replacing human personnel in challenging areas. RoboChart, a platform-agnostic tool, brings numerous benefits to the robotics community by providing a language and high-level tool to describe a model via automatic verification and exhaustive testing of the model. However, when it comes to real robotics it is essential to use testing tools suitable for specific robotic software. In the context of the Robotic Operating System (ROS), it imposes its own design constraints, best practices, and communication requirements. This paper aims to apply the RoboChart modelling approach to autonomous firefighting drones, putting forward a low-level ROS software architecture that aligns with RoboChart models, ensuring the trustworthiness of the system during operation.

KW - drone

KW - firefighting

KW - robochart

KW - robots

KW - ros

KW - software

KW - trustworthy

KW - trustworthy architecture

UR - http://www.scopus.com/inward/record.url?scp=85207869376&partnerID=8YFLogxK

U2 - 10.1109/MESA61532.2024.10704818

DO - 10.1109/MESA61532.2024.10704818

M3 - Conference contribution

AN - SCOPUS:85207869376

T3 - MESA 2024 - 20th International Conference on Mechatronic, Embedded Systems and Applications, Proceedings

BT - MESA 2024 - 20th International Conference on Mechatronic, Embedded Systems and Applications, Proceedings

PB - Institute of Electrical and Electronics Engineers Inc.

Y2 - 2 September 2024 through 4 September 2024

ER -