PsALM: Specification of Dependable Robotic Missions

Menghi, Claudio; Tsigkanos, Christos; Berger, Thorsten; Pelliccione, Patrizio

doi:10.1109/icse-companion.2019.00048

Cited by 21 publications

(31 citation statements)

References 24 publications

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“…We used the proposed pattern catalog to express robotic missions requirements and to automatically generate their mission specifications. To support developers in mission design we implemented the tool PsAlM [62], which allows creating complex mission requirements by composing patterns with simple operators. PsAlM transforms mission requirements (i.e., composed patterns) into mission specifications in LTL or CTL.…”

Section: B Specification Pattern Tool Supportmentioning

confidence: 99%

Specification Patterns for Robotic Missions

Menghi

Tsigkanos

Ghezzi

et al. 2021

IIEEE Trans. Software Eng.

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Mobile and general-purpose robots increasingly support our everyday life, requiring dependable robotics control software. Creating such software mainly amounts to implementing their complex behaviors known as missions. Recognizing the need, a large number of domain-specific specification languages has been proposed. These, in addition to traditional logical languages, allow the use of formally specified missions for synthesis, verification, simulation, or guiding the implementation. For instance, the logical language LTL is commonly used by experts to specify missions, as an input for planners, which synthesize the behavior a robot should have. Unfortunately, domain-specific languages are usually tied to specific robot models, while logical languages such as LTL are difficult to use by non-experts.We present a catalog of 22 mission specification patterns for mobile robots, together with tooling for instantiating, composing, and compiling the patterns to create mission specifications. The patterns provide solutions for recurrent specification problems, each of which detailing the usage intent, known uses, relationships to other patterns, and-most importantly-a template mission specification in temporal logic. Our tooling produces specifications expressed in the LTL and CTL temporal logics to be used by planners, simulators, or model checkers. The patterns originate from 245 realistic textual mission requirements extracted from the robotics literature, and they are evaluated upon a total of 441 real-world mission requirements and 1251 mission specifications. Five of these reflect scenarios we defined with two well-known industrial partners developing human-size robots. We validated our patterns' correctness with simulators and two real robots.

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Section: B Specification Pattern Tool Supportmentioning

confidence: 99%

Specification Patterns for Robotic Missions

Menghi

Tsigkanos

Ghezzi

et al. 2021

IIEEE Trans. Software Eng.

Self Cite

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“…We first show applicability to tasks taken from [6], [12] and [16], and we analyse scalability. Task specifications and results are available at [25].…”

Section: Validationmentioning

confidence: 99%

“…3) Ordered Patrol: In [12], a study of common UAV task requirements taken from over robotics papers is presented. One common requirement is that of an ordered patrol which requires visiting a set of locations in a particular order and at each one performing some task.…”

Section: B Tasksmentioning

confidence: 99%

“…One common requirement is that of an ordered patrol which requires visiting a set of locations in a particular order and at each one performing some task. In essence, this is the Fire Patrol task (which is another common pattern [12], the unordered patrol), but with an order for which the patrol locations must be visited. This task requires explicit treatment of locations at the plan level.…”

Section: B Tasksmentioning

confidence: 99%

“…We provide a novel approach that allows scaling the number of locations in task planning by exploiting the following observation: Many robot tasks specifications are, or can be, expressed as a universal quantification over a set of locations (e.g., "For all locations in the discrete workspace, if the location satisfies ... then visit it and do ... if ..."). Examples include tasks in [1], [6], [7], [8], [9], [10], [11] and [12], where common robot task are surveyed. The common ground in these papers is the explicit management of locations, that makes synthesis intractable when increased.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Iterator-Based Temporal Logic Task Planning

Zudaire

Garrett

Uchite

2020

2020 IEEE International Conference on Robotics and Automation (ICRA)

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Temporal logic task planning for robotic systems suffers from state explosion when specifications involve large numbers of discrete locations. We provide a novel approach, particularly suited for tasks specifications with universally quantified locations, that has constant time with respect to the number of locations, enabling synthesis of plans for an arbitrary number of them. We propose a hybrid control framework that uses an iterator to manage the discretised workspace hiding it from a plan enacted by a discrete event controller. A downside of our approach is that it incurs in increased overhead when executing a synthesised plan. We demonstrate that the overhead is reasonable for missions of a fixed-wing Unmanned Aerial Vehicle in simulated and real scenarios for up to 700 000 locations.

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