Multiparty motion coordination: from choreographies to robotics programs

Majumdar, Rupak; Yoshida, Nobuko; Zufferey, Damien

doi:10.1145/3428202

Cited by 11 publications

(4 citation statements)

References 52 publications

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“…As a result, our aim will instead be to elaborate a dependently-typed session calculus [36] in the UTP and equip it with abstract model checking capabilities [56].…”

Section: Discussionmentioning

confidence: 99%

Semantics Foundation for Cyber-physical Systems Using Higher-order UTP

Talpin

Wang

et al. 2023

ACM Trans. Softw. Eng. Methodol.

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Model-based design has become the predominant approach to the design of hybrid and cyber-physical systems (CPSs). It advocates the use of mathematically founded models to capture heterogeneous digital and analog behaviours from domain-specific formalisms, allowing all engineering tasks of verification, code synthesis and validation to be performed within a single semantic body. Guaranteeing the consistency among the different views and heterogeneous models of a system at different levels of abstraction however poses significant challenges. To address these issues, Hoare and He’s Unifying Theories of Programming (UTP) proposes a calculus to capture domain-specific programming and modelling paradigms into a unified semantic framework. Our goal is to extend UTP to form a semantic foundation for CPS design. Higher-Order UTP (HUTP) is a conservative extension to Hoare and He’s theory which supports the specification of discrete, real-time and continuous dynamics, concurrency and communication, and higher-order quantification. Within HUTP, we define a calculus of normal hybrid designs to model, analyse, compose, refine and verify heterogeneous hybrid system models. In addition, we define respective formal semantics for HCSP (Hybrid Communicating Sequential Processes) and Simulink using HUTP.

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“…As a result, our aim will instead be to elaborate a dependently-typed session calculus [36] in the UTP and equip it with abstract model checking capabilities [56].…”

Section: Discussionmentioning

confidence: 99%

Semantics Foundation for Cyber-physical Systems Using Higher-order UTP

Talpin

Wang

et al. 2023

ACM Trans. Softw. Eng. Methodol.

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“…Unlike X -K laim, however, robot distribution is not explicit, and open-endedness is not supported. Finally, in [51], a programming model and a typing discipline for complex multirobot coordination are presented. The programming model uses choreographies to compositionally specify and statically verify message-based communications and jointly executed motion between robotics components in the physical space.…”

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

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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.

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“…Behavioural Abstractions. Coreographic models have been applied to Cyber-Phisical Systems [24,25], IoT [23] and robotics [27]. These papers focus on verification of correctness properties (e.g.…”

Section: Conclusion Related and Future Workmentioning

confidence: 99%

Comparing perfomance abstractions for collective adaptive systems

Murgia,

Pinciroli,

Trubiani

et al. 2023

Int J Softw Tools Technol Transfer

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Non-functional properties of collective adaptive systems (CAS) are of paramount relevance practically in any application. This paper compares two recently proposed approaches to quantitative modelling that exploit different system abstractions: the first is based on generalised stochastic Petri nets, and the second is based on queueing networks. Through a case study involving autonomous robots, we analyse and discuss the relative merits of the approaches. This is done by considering three scenarios which differ on the architecture used to coordinate the distributed components. Our experimental results assess a high accuracy when comparing model-based performance analysis results derived from two different quantitative abstractions for CAS.

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Multiparty motion coordination: from choreographies to robotics programs

Cited by 11 publications

References 52 publications

Semantics Foundation for Cyber-physical Systems Using Higher-order UTP

Semantics Foundation for Cyber-physical Systems Using Higher-order UTP

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

Comparing perfomance abstractions for collective adaptive systems

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