Language Semantics Driven Design and Formal Analysis for Distributed Cyber-Physical Systems

Ghosh, Ritwika; Misailovíc, Saša; Mitra, Sayan

doi:10.1145/3231104.3231958

Cited by 4 publications

(1 citation statement)

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“…Formal semantics of the language and the automatic verification tools are not part of this paper. Some of the details of the formal aspects of Koord were presented in an earlier workshop paper[9].…”

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confidence: 99%

CyPhyHouse: A Programming, Simulation, and Deployment Toolchain for Heterogeneous Distributed Coordination

Ghosh¹,

Jansch-Porto²,

Hsieh³

et al. 2019

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Programming languages, libraries, and development tools have transformed the application development processes for mobile computing and machine learning. This paper introduces the CyPhyHouse-a toolchain that aims to provide similar programming, debugging, and deployment benefits for distributed mobile robotic applications. Users can develop hardware-agnostic, distributed applications using the high-level, event driven Koord programming language, without requiring expertise in controller design or distributed network protocols. The modular, platform-independent middleware of CyPhyHouse implements these functionalities using standard algorithms for path planning (RRT), control (MPC), mutual exclusion, etc. A high-fidelity, scalable, multi-threaded simulator for Koord applications is developed to simulate the same application code for dozens of heterogeneous agents. The same compiled code can also be deployed on heterogeneous mobile platforms. The effectiveness of CyPhyHouse in improving the design cycles is explicitly illustrated in a robotic testbed through development, simulation, and deployment of a distributed task allocation application on in-house ground and aerial vehicles.

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confidence: 99%