Synthesis of Robotic System Controllers Using Robotic System Specification Language

Abstract

Robotic System Specification Language (RSSL) stems from the embodied agent approach to robotic system design. It enables the specification of both the structure and activities of a multi-robot multi-agent robotic system. RSSL specification can be verified and automatically transformed by its compiler into a six-layered Robotic System Hierarchical Petri Net (RSHPN). RSHPN models the activities and structure of the designed robotic system. The automatically generated RSHPN is loaded into RSHPN Tool modeling RSHPNs and automatically generating the controller code. This approach was validated on several robotic systems. The use of RSSL and RSHPN facilitates the synthesis of robotic system controllers.

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

“…Figat et. al [7] provides a framework based on hierarchically structured Petri nets allowing to model distributed robotic systems. A specification language is used to construct such systems.…”

“…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.…”