Compositional Design of Multi-Robot Systems Control Software on ROS

Spellini, Stefano; Lora, Michele; Fummi, Franco; Chattopadhyay, Sudipta

doi:10.1145/3358197

Cited by 7 publications

(4 citation statements)

References 21 publications

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“…For example, TUW can aid in multi-robot tasks and path planning by designing routes on a search graph for multiple robots. This approach involves constructing a search graph from a pixel map and utilizing an extended priority planning method to locate paths for multiple robots [ 31 ]. In ROS-based frameworks, navigation and control commands for robots can be designed and executed within a global map, enabling MRS to plan and execute tasks efficiently [ 32 ].…”

Section: Related Workmentioning

confidence: 99%

The Energy Efficiency Multi-Robot System and Disinfection Service Robot Development in Large-Scale Complex Environment

Chen

Lin

2023

Sensors

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In recent years, multi-robot control systems and service robots equipped with graphical computing have been introduced in various application scenarios. However, the long-term operation of VSLAM calculation leads to reduced energy efficiency of the robot, and accidental localization failure still persists in large-scale fields with dynamic crowds and obstacles. This study proposes an EnergyWise multi-robot system based on ROS that actively determines the activation of VSLAM using real-time fused localization poses by an innovative energy-saving selector algorithm. The service robot is equipped with multiple sensors and utilizes the novel 2-level EKF method and incorporates the UWB global localization mechanism to adapt to complex environments. During the COVID-19 pandemic, three disinfection service robots were deployed to disinfect a large, open, and complex experimental site for 10 days. The results demonstrated that the proposed EnergyWise multi-robot control system successfully achieved a 54% reduction in computing energy consumption during long-term operations while maintaining a localization accuracy of 3 cm.

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Section: Related Workmentioning

confidence: 99%

The Energy Efficiency Multi-Robot System and Disinfection Service Robot Development in Large-Scale Complex Environment

Chen

Lin

2023

Sensors

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“…Another approach that is compositional, uses Assume-Guarantee contracts, and targets ROS is presented in [62]. Their methodology focusses on using contracts to decompose the control software of multi-robot systems.…”

Section: Related Workmentioning

confidence: 99%

Code, Models, and Verification Evidence for: A Compositional Approach to Verifying Modular Robotic Systems

Luckcuck,

Farrell,

Ferrando

et al. 2022

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Robotic systems used in safety-critical industrial situations often rely on modular software architectures, and increasingly include autonomous components. Verifying that these modular robotic systems behave as expected requires approaches that can cope with, and preferably take advantage of, this inherent modularity. This paper describes a compositional approach to specifying the nodes in robotic systems built using the Robot Operating System (ROS), where each node is specified using First-Order Logic (FOL) assume-guarantee contracts that link the specification to the ROS implementation. We introduce inference rules that facilitate the composition of these node-level contracts to derive system-level properties. We also present a novel Domain-Specific Language, the ROS Contract Language (RCL), which captures a node's FOL specification and links this contract to its implementation. RCL contracts can be automatically translated, by our tool Vanda, into executable monitors; which we use to enforce the contracts at runtime. We illustrate our approach through the specification and verification of an autonomous rover engaged in the remote inspection of a nuclear site, and examples focussing on the specification and verification of individual nodes.

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“…Related work includes the identification of Event-B specification clones in cyber physical system specifications [15]. Other compositional approaches include OCRA [8], AGREE [10], CoCoSpec [7], SIMPAL [29], DRONA [12], and a methodology to decompose a system into assume-guarantee contracts that are then validated through simulation [27], however, none explicitly incorporates heterogeneous techniques.…”

Section: Software Testingmentioning

confidence: 99%

Towards Compositional Verification for Modular Robotic Systems

Cardoso

Dennis

Farrell

et al. 2020

Electron. Proc. Theor. Comput. Sci.

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Software engineering of modular robotic systems is a challenging task, however, verifying that the developed components all behave as they should individually and as a whole presents its own unique set of challenges. In particular, distinct components in a modular robotic system often require different verification techniques to ensure that they behave as expected. Ensuring whole system consistency when individual components are verified using a variety of techniques and formalisms is difficult. This paper discusses how to use compositional verification to integrate the various verification techniques that are applied to modular robotic software, using a First-Order Logic (FOL) contract that captures each component's assumptions and guarantees. These contracts can then be used to guide the verification of the individual components, be it by testing or the use of a formal method. We provide an illustrative example of an autonomous robot used in remote inspection. We also discuss a way of defining confidence for the verification associated with each component.

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Compositional Design of Multi-Robot Systems Control Software on ROS

Cited by 7 publications

References 21 publications

The Energy Efficiency Multi-Robot System and Disinfection Service Robot Development in Large-Scale Complex Environment

The Energy Efficiency Multi-Robot System and Disinfection Service Robot Development in Large-Scale Complex Environment

Code, Models, and Verification Evidence for: A Compositional Approach to Verifying Modular Robotic Systems

Towards Compositional Verification for Modular Robotic Systems

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