Model-Driven Simulation-Based Analysis for Multi-Robot Systems

Harbin, James; Gerasimou, Simos; Matragkas, Nicholas; Zolotas, Athanasios; Călinescu, Radu

doi:10.1109/models50736.2021.00040

Cited by 9 publications

(2 citation statements)

References 35 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Compiler IDE ROS ART2ool [23] ATLAS [24] BRIDE [25] CommonLang [26] Drona [27] FLYAQ [28] Hyperflex [29] ISPL [30] Koord [31] PROMISE [32] RobotChart [33] ROSBuzz [34] RSSM [35] SCEL [36] X-Klaim…”

Section: Openendednessmentioning

confidence: 99%

“…This work is extended in [46] to enable the use of a declarative specification style, but it only supports homogeneous robots. ATLAS [24], which also provides a simulator-based analysis, takes a step further towards coordinating MRSs but only supports centralized coordination. PROMISE [32] allows specifying the missions of MRSs using linear temporal logic operators for composing robotic mission patterns.…”

Section: Openendednessmentioning

confidence: 99%

See 1 more Smart Citation

Coordinating and programming multiple ROS-based robots with X-KLAIM

Bettini,

Bourr,

Pugliese

et al. 2023

Int J Softw Tools Technol Transfer

View full text Add to dashboard Cite

Software development for robotics applications is still a major challenge that becomes even more complex when considering multi-robot systems (MRSs). Such distributed software has to perform multiple cooperating tasks in a well-coordinated manner to avoid unsatisfactory emerging behavior. This paper provides an approach for programming MRSs at a high abstraction level using the programming language X-Klaim. The computation and communication model of X-Klaim, based on multiple distributed tuple spaces, permits coordinating with the same abstractions and mechanisms both intra- and inter-robot interactions of an MRS. This allows developers to focus on MRS behavior, achieving readable, reusable, and maintainable code. The proposed approach can be used in practice by integrating X-Klaim and the popular robotics framework ROS. We demonstrate the feasibility and effectiveness of our approach by (i) showing how it scales when implementing two warehouse scenarios allowing us to reuse most of the code when passing from the simpler to the more enriched scenario and (ii) presenting the results of a few experiments showing that our code introduces a slightly greater but acceptable latency and consumes less memory than the traditional ROS implementation based on Python code.

show abstract

Section: Openendednessmentioning

confidence: 99%

Section: Openendednessmentioning

confidence: 99%

Coordinating and programming multiple ROS-based robots with X-KLAIM

Bettini,

Bourr,

Pugliese

et al. 2023

Int J Softw Tools Technol Transfer

View full text Add to dashboard Cite

show abstract

MissionML: A Mission Architecture Modeling Language based on Unified Architecture Framework

Yang,

Song,

Chang

et al. 2024

INCOSE International Symp

View full text Add to dashboard Cite

The missions of complex systems, organizations, or groups can be identified through careful requirements and domain analysis. Mission architecture modeling is a crucial step for enterprise modeling and design. However, mission modeling is lacking from the Unified Architecture Framework (UAF), which system engineers must specify and model from sketch. This paper proposes a Mission Architecture Modeling Language (MissionML). This two‐layer architecture language generalizes the general common and special knowledge from four typical missions as a core layer and mission layer. The elements of the core layer are obtained through slight extensions of the operational layer elements in UAFML, and the elements of the mission layer are derived from the elements in the core layer. Moreover, MissionML is implemented as a UAF profile, incorporating numerous domain concepts in its syntax and semantics for mission modeling. Finally, we use five public case studies to demonstrate learnability and extensibility from the viewpoint of system engineers.

show abstract