Barnett, William, Cavalcanti, Ana Lucia Caneca orcid.org/0000-0002-0831-1976 and Miyazawa, Alvaro orcid.org/0000-0003-2233-9091 (2022) Architectural modelling for robotics: RoboArch and the CorteX example. Frontiers in Robotics and AI. 991637. ISSN 2296-9144
Abstract
The need for robotic systems to be verified grows as robots are increasingly used in complex applications with safety implications. Model-driven engineering and domain-specific languages (DSLs) have proven useful in the development of complex systems. RoboChart is a DSL for modelling robot software controllers using state machines and a simple component model. It is distinctive in that it has a formal semantics and support for automated verification. Our work enriches RoboChart with support for modelling architectures and architectural patterns used in the robotics domain. Support is in the shape of an additional DSL, RoboArch, whose primitive concepts encapsulate the notion of a layered architecture and architectural patterns for use in the design of the layers that are only informally described in the literature. A RoboArch model can be used to generate automatically a sketch of a RoboChart model, and the rules for automatic generation define a semantics for RoboArch. Additional patterns can be formalised by extending RoboArch. In this paper, we present RoboArch, and give a perspective of how it can be used in conjunction with CorteX, a software framework developed for the nuclear industry.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2022 Barnett, Cavalcanti and Miyazawa |
Keywords: | software engineering,patterns,RoboStar framework,nuclear industry,verification,simulation,test,proof |
Dates: |
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Institution: | The University of York |
Academic Units: | The University of York > Faculty of Sciences (York) > Computer Science (York) |
Funding Information: | Funder Grant number EPSRC EP/M025756/1 EPSRC EP/R025479/1 |
Depositing User: | Pure (York) |
Date Deposited: | 02 Dec 2022 16:30 |
Last Modified: | 13 Mar 2025 05:29 |
Published Version: | https://doi.org/10.3389/frobt.2022.991637 |
Status: | Published |
Refereed: | Yes |
Identification Number: | 10.3389/frobt.2022.991637 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:194026 |