Li, Wei orcid.org/0000-0001-9786-585X, Ribeiro, Pedro orcid.org/0000-0003-4319-4872, Miyazawa, Alvaro orcid.org/0000-0003-2233-9091 et al. (5 more authors) (2024) Formal Design, Verification and Implementation of Robotic Controller Software via RoboChart and RoboTool. Autonomous Robots. 14. ISSN 0929-5593
Abstract
Current practice in simulation and implementation of robot controllers is usually undertaken with guidance from high-level design diagrams and pseudocode. Thus, no rigorous connection between the design and the development of a robot controller is established. This paper presents a framework for designing robotic controllers with support for automatic generation of executable code and automatic property checking. A state-machine based notation, RoboChart, and a tool (RoboTool) that implements the automatic generation of code and mathematical models from the designed controllers are presented. We demonstrate the application of RoboChart and its related tool through a case study of a robot performing an exploration task. The automatically generated code is platform independent and is used in both simulation and two different physical robotic platforms. Properties are formally checked against the mathematical models generated by RoboTool, and further validated in the actual simulations and physical experiments. The tool not only provides engineers with a way of designing robotic controllers formally but also paves the way for correct implementation of robotic systems.
Metadata
Item Type: | Article |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © The Author(s) 2024 |
Dates: |
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Institution: | The University of York |
Academic Units: | The University of York > Faculty of Sciences (York) > Electronic Engineering (York) 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: | 10 May 2024 09:10 |
Last Modified: | 17 Oct 2024 08:55 |
Published Version: | https://doi.org/10.1007/s10514-024-10163-7 |
Status: | Published |
Refereed: | Yes |
Identification Number: | 10.1007/s10514-024-10163-7 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:212366 |
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Filename: s10514-024-10163-7.pdf
Description: Formal design, verification and implementation of robotic controller software via RoboChart and RoboTool
Licence: CC-BY 2.5