An Iterative Approach to Automate the Tuning of Continuous Controller Parameters

Baccouri, Hamza El; Guillou, Goulven; Babau, Jean-Philippe

doi:10.1109/euc50751.2020.00008

Cited by 1 publication

(3 citation statements)

References 12 publications

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“…The approach models components and interfacing of nodes, services, and topics. In [19], parameterization and scenario-centralized modeling are used to evaluate different control settings and environmental contexts. Based on their DSL, code is generated mapping to ROS packages, nodes, and topics.…”

Section: Dsl Based Ros Approachesmentioning

confidence: 99%

“…Furthermore, the verification should reflect the influence of other applications and models to check mission-critical reactions to changing environments. Existing approaches building on top of ROS either enable the modeling of infrastructural aspects of ROS, verify parts of ROS applications, or deal with the influence of external applications [3][4][5][6][7][8][9][10][11][12][13][14][15][16][17][18][19][20][21][22]. Our approach, Distributed Petri Nets for ROS (DiNeROS), aims to address all three aspects by using Petri nets to realize a model-driven toolchain for ROS applica-tions generating stubs as an integration target for user-defined implementations.…”

mentioning

confidence: 99%

“…On Line 9, the output of TINA, which is the state space of an PNM, is used to get the list of all dead transitions. This list is iterated over (Lines [11][12][13][14][15][16][17][18][19], and based on the contained transitions and types, it is determined whether a topic is used, a service is never returned, or a service is getting called.…”

mentioning

confidence: 99%

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Distributed Petri nets for model-driven verifiable robotic applications in ROS

Ebert,

Mey,

Schöne

et al. 2024

Innovations Syst Softw Eng

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Verifying industrial robotic systems is a complex task because those systems are distributed and solely defined by their implementation instead of models of the system to be verified. Some technologies mitigate parts of this problem, e.g., robotic middleware such as the Robotic Operating System (ROS) or concrete solutions such as automata-based specification of robot behavior. However, they all lack the required modeling depth to describe the structure, behavior, and communication of the system. We introduce an improved version of our previous model-driven approach based on Petri nets, integrating these three aspects of ROS-based systems. Using a formal modeling language enables verification of the described system and the generation of complete system parts in the form of ROS nodes. This reduces testing effort because the specification of component workflows and interfaces remains formally proven, while only changed implementations have to be revalidated. We extended our previous approach with novel model transformations, which considerably improved our approach’s performance and memory requirements. We evaluate our approach in a case study involving multiple industrial robotic arms and show that the structure of and communication between ROS nodes can be described and verified.

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Section: Dsl Based Ros Approachesmentioning

confidence: 99%