Non-Expert Development M A T T B U N T I N G , Y E G E T A Z E L - - PowerPoint PPT Presentation

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Non-Expert Development M A T T B U N T I N G , Y E G E T A Z E L - - PowerPoint PPT Presentation

A Safe Autonomous Vehicle Trajectory Domain Specific Modeling Language For Non-Expert Development M A T T B U N T I N G , Y E G E T A Z E L E K E , K E N N O N M C K E E V E R , J O N A T H A N S P R I N K L E U N I V E R S I T Y O F A


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M A T T B U N T I N G , Y E G E T A Z E L E K E , K E N N O N M C K E E V E R , J O N A T H A N S P R I N K L E U N I V E R S I T Y O F A R I Z O N A

A Safe Autonomous Vehicle Trajectory Domain Specific Modeling Language For Non-Expert Development

Bunting, SPLASH-2016, A Safe Autonomous Vehicle Trajectory Domain Specific Modeling Language for Non-Expert Development, Oct 30th 2016

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Domain

 Allow elementary students to program AV  Programs consist of an ordered set of primitive

motions, i.e. a path

 No unsafe paths should be executed

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Path Location

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Domain Safety

 Controllers from prior work used for motions  Paths should be structurally unambiguous  Paths should not drive outside of the grid  Paths should start and stop on user defined

waypoints

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Metamodel

 WebGME

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Model

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Verification

 Algorithms developed to check model behavior  Constraint violations displayed to the user

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Demonstration

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Implementation

 Students worked in groups to design paths on paper  Groups transferred paths to the modeling language  Some groups needed no instruction  Students used verification feedback to correct

models

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Demo Day

 Manually drove car to start location  Ran generated files without reviewing, known to be

safe

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Future Work

 Automation  Implement reactive modeling and LTL verification  Examine properties of automatic dynamic constraint

verification

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Questions