RoboStar Technology Software Engineering for Robotics Ana - PowerPoint PPT Presentation

RoboStar Technology Software Engineering for Robotics Ana Cavalcanti University of York, UK - RoboStar ( www.cs.york.ac.uk/RoboStar ) 14th of November, 2019 Thanks : Alvaro Miyazawa, Pedro Ribeiro, Augusto Sampaio, Jon Timmis Ana Cavalcanti University of York, UK - RoboStar ( www.cs.york.ac.uk/RoboStar ) RoboStar Technology – Software Engineering for Robotics 1 / 33

Outline ◮ Motivation: current approach ◮ Our approach ◮ Simulation generation ◮ RoboSim ◮ Physical modelling ◮ Future work Ana Cavalcanti University of York, UK - RoboStar ( www.cs.york.ac.uk/RoboStar ) RoboStar Technology – Software Engineering for Robotics 2 / 33

environment controller robot code low-level 2nd phase: Simulation simulation 1st phase: Abstract model discrete simulation hardware code 2nd phase: Simulation 3rd phase: Implementation simulation environment discrete simulation hardware code controller state machine 1st phase: Abstract model state machine environment Current approach to development in robotics ◮ Outdated ◮ No use of models ◮ No tool support ◮ Programming-based ◮ Trial-and-error based ◮ No assurance Ana Cavalcanti University of York, UK - RoboStar ( www.cs.york.ac.uk/RoboStar ) RoboStar Technology – Software Engineering for Robotics 3 / 33

Example state machines Figure 1: Complete state diagram illustrating the operation of the Relay Chain algorithm. The three core states Becky Naylor, Mark Read, Jon Timmis, and Andy Tyrrell. The Relay Chain: Communication between an Exploratory Underwater Shoal and a Surface Vehicle. ALIFE 14: Proceedings of the 14th International Conference on the Synthesis and Simulation of Living Systems. Ana Cavalcanti University of York, UK - RoboStar ( www.cs.york.ac.uk/RoboStar ) RoboStar Technology – Software Engineering for Robotics 4 / 33 ALIFE 14: Proceedings of the Fourteenth International Conference on the Synthesis and Simulation of Living Systems

Example state machines “A group of e-puck robots transporting an object (blue box) towards a goal (red cylinder).” Jianing Chen, M. Gauci and R. Gross. “A strategy for transporting tall objects with a swarm of miniature mobile robots”. In: Robotics and Automation (ICRA), 2013 IEEE International Conference on. 2013, pp. 863–869. Ana Cavalcanti University of York, UK - RoboStar ( www.cs.york.ac.uk/RoboStar ) RoboStar Technology – Software Engineering for Robotics 5 / 33

RoboChart + RoboWorld Model Our approach Ana Cavalcanti University of York, UK - RoboStar ( www.cs.york.ac.uk/RoboStar ) RoboStar Technology – Software Engineering for Robotics 6 / 33

AUTOMATIC GENERATION Proof Model RoboChart+ RoboWorld Model Our approach Ana Cavalcanti University of York, UK - RoboStar ( www.cs.york.ac.uk/RoboStar ) RoboStar Technology – Software Engineering for Robotics 7 / 33

AUTOMATIC GENERATION Proof Model RoboChart+ RoboWorld Model Model checkers Theorem provers Properties of interest valid? Our approach Ana Cavalcanti University of York, UK - RoboStar ( www.cs.york.ac.uk/RoboStar ) RoboStar Technology – Software Engineering for Robotics 8 / 33

Properties of NO GENERATION Proof Model RoboChart + RoboWorld Model Model checkers Theorem provers AUTOMATIC interest valid? Our approach Ana Cavalcanti University of York, UK - RoboStar ( www.cs.york.ac.uk/RoboStar ) RoboStar Technology – Software Engineering for Robotics 9 / 33

NO YES GENERATION Proof Model RoboChart + RoboWorld Model Model checkers Theorem provers Properties of interest valid? AUTOMATIC RoboSim Model AUTOMATIC GENERATION Our approach Ana Cavalcanti University of York, UK - RoboStar ( www.cs.york.ac.uk/RoboStar ) RoboStar Technology – Software Engineering for Robotics 10 / 33

NO interest Robotics YES Model RoboSim AUTOMATIC valid? Properties of valid? Theorem provers Model checkers Model RoboChart + RoboWorld Proof Model GENERATION Simulator Our approach Ana Cavalcanti University of York, UK - RoboStar ( www.cs.york.ac.uk/RoboStar ) RoboStar Technology – Software Engineering for Robotics 11 / 33

Model NO Simulator Robotics YES GENERATION AUTOMATIC AUTOMATIC RoboSim valid? NO interest Properties of Theorem provers Model checkers Model RoboChart + RoboWorld Proof Model GENERATION valid? Our approach Ana Cavalcanti University of York, UK - RoboStar ( www.cs.york.ac.uk/RoboStar ) RoboStar Technology – Software Engineering for Robotics 12 / 33

GENERATION Model Code Deployment YES NO valid? Simulator Robotics YES AUTOMATIC AUTOMATIC RoboSim GENERATION NO valid? interest Properties of Theorem provers Model checkers Model RoboChart + RoboWorld Proof Model GENERATION AUTOMATIC Our approach Ana Cavalcanti University of York, UK - RoboStar ( www.cs.york.ac.uk/RoboStar ) RoboStar Technology – Software Engineering for Robotics 13 / 33

NO cases AUTOMATIC YES Test cases CONVERSION Test Test Simulator cases Deployment Code AUTOMATIC GENERATION System valid? Robotics correct? Properties of GENERATION Proof Model RoboChart + RoboWorld Model Model checkers Theorem provers interest YES valid? NO RoboSim Model AUTOMATIC GENERATION Testing Our approach Ana Cavalcanti University of York, UK - RoboStar ( www.cs.york.ac.uk/RoboStar ) RoboStar Technology – Software Engineering for Robotics 14 / 33

YES Test AUTOMATIC Test cases CONVERSION Test cases cases valid? Deployment Code AUTOMATIC GENERATION System Testing NO Simulator NO Properties of GENERATION Proof Model RoboChart + RoboWorld Model Model checkers Theorem provers interest Robotics valid? NO RoboSim Model AUTOMATIC GENERATION YES correct? Our approach Ana Cavalcanti University of York, UK - RoboStar ( www.cs.york.ac.uk/RoboStar ) RoboStar Technology – Software Engineering for Robotics 15 / 33

CONVERSION Code cases AUTOMATIC Test cases Test cases Deployment AUTOMATIC YES GENERATION System Testing correct? NO YES Code Proofs Test NO Environment restrictions interest GENERATION Proof Model RoboWorld+RoboChart Model Model checkers Theorem provers Properties of valid? valid? NO RoboSim Model AUTOMATIC GENERATION YES Robotics Simulator Test results and assumptions Our approach CERTIFIED FOR SAFE USE Ana Cavalcanti University of York, UK - RoboStar ( www.cs.york.ac.uk/RoboStar ) RoboStar Technology – Software Engineering for Robotics 16 / 33

RoboTool support for our approach Eclipse plug-ins: www.cs.york.ac.uk/robostar/ CSP and timed-CSP Qualitative Results Requirements Reactive Modules Formalism PRISM Storm RoboTool Quantitative RoboChart Results Models ARGoS C++ / SDF v-rep Simulation chemical detector - autonomous pod - transporter - solar vacuum cleaner - ... Ana Cavalcanti University of York, UK - RoboStar ( www.cs.york.ac.uk/RoboStar ) RoboStar Technology – Software Engineering for Robotics 17 / 33

CONVERSION Code cases AUTOMATIC Test cases Test cases Deployment AUTOMATIC YES GENERATION System Testing correct? NO YES Code Proofs Test NO Environment restrictions interest GENERATION Proof Model RoboWorld+RoboChart Model Model checkers Theorem provers Properties of valid? valid? NO RoboSim Model AUTOMATIC GENERATION YES Robotics Simulator Test results and assumptions Our approach: more detail CERTIFIED FOR SAFE USE Ana Cavalcanti University of York, UK - RoboStar ( www.cs.york.ac.uk/RoboStar ) RoboStar Technology – Software Engineering for Robotics 18 / 33

CONVERSION Code cases AUTOMATIC Test cases Test cases Deployment AUTOMATIC YES GENERATION System Testing correct? NO YES Code Proofs Test NO Environment restrictions interest GENERATION Proof Model RoboChart+RoboWorld Model Model checkers Theorem provers Properties of valid? valid? NO RoboSim Model AUTOMATIC GENERATION YES Robotics Simulator Test results and assumptions Our approach: more detail CERTIFIED FOR SAFE USE Ana Cavalcanti University of York, UK - RoboStar ( www.cs.york.ac.uk/RoboStar ) RoboStar Technology – Software Engineering for Robotics 19 / 33

Control Software Platform Services Environment Assumptions RoboChart + RoboWorld Control Software Platform Physical Model Scenario RoboSim Our approach Ana Cavalcanti University of York, UK - RoboStar ( www.cs.york.ac.uk/RoboStar ) RoboStar Technology – Software Engineering for Robotics 20 / 33

Control Software Platform Services Environment Assumptions RoboChart + RoboWorld Control Software Platform Physical Model Scenario RoboSim Our approach Ana Cavalcanti University of York, UK - RoboStar ( www.cs.york.ac.uk/RoboStar ) RoboStar Technology – Software Engineering for Robotics 21 / 33

RoboSim abstraction Platform Services Environment Assumptions RoboChart + RoboWorld Control Software Platform Physical Model Scenario Control Software Platform Services realisation Our approach Ana Cavalcanti University of York, UK - RoboStar ( www.cs.york.ac.uk/RoboStar ) RoboStar Technology – Software Engineering for Robotics 22 / 33

RoboSim abstraction Platform Services Environment Assumptions RoboChart + RoboWorld Control Software Platform Physical Model Scenario Control Software Platform Services realisation Our approach Ana Cavalcanti University of York, UK - RoboStar ( www.cs.york.ac.uk/RoboStar ) RoboStar Technology – Software Engineering for Robotics 23 / 33