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A Generated Property Specification Language for Resilient Multirobot Missions

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Software Engineering for Resilient Systems (SERENE 2017)

Part of the book series: Lecture Notes in Computer Science ((LNPSE,volume 10479))

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Abstract

The use of robots is gaining considerable traction in several domains, since they are capable of assisting and replacing humans for everyday tasks. To harvest the full potential of robots, it must be possible to define missions for robots that are domain-specific, resilient, and collaborative. Currently, robot vendors provide low-level APIs to program such missions, making mission definition a task-specific and error-prone activity. There is a need for quick definition of new missions, by users that lack programming expertise, such as farmers and emergency workers. In this paper, we extend the existing FLYAQ platform to support the high-level specification of adaptive and highly-resilient missions. We present an extensible specification language that allows users to declaratively specify domain-specific constraints as properties of missions, thus complementing the existing FLYAQ mission language. This permits to move at runtime, the actual generation of low-level operations to satisfy the declaratively specified mission. We show how this specification language can be automatically generated from a domain-specific FLYAQ mission language by using the generative ProMoBox approach. Next, we show how mission goals are achieved taking mission properties into account, and how missions may change due to unexpected circumstances.

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Notes

  1. 1.

    http://www.uppaal.org/.

  2. 2.

    An implementation of this grammar can be found at http://msdl.cs.mcgill.ca/people/bart/flyaq/flyaq.html.

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Acknowledgement

This research is partially supported by Flanders Make vzw. This research is also partially funded by the COST action IC1404 “MPM4CPS”. This work has been carried out within the framework of the MBSE4Mechatronics project (grant nr.130013) of the agency for Innovation by Science and Technology in Flanders (IWT-Vlaanderen). More support for this work was from the SIDA Bright 317 project. Finally, this work is partially supported from the EU H2020 Research and Innovation Programme under GA No. 731869 (Co4Robots).

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Authors and Affiliations

  1. Department of Computer Science and Engineering, Chalmers University of Technology, University of Gothenburg, Göteborg, Sweden

    Swaib Dragule & Patrizio Pelliccione

  2. Antwerp Systems and Software Modelling, University of Antwerp, Antwerpen, Belgium

    Bart Meyers

  3. Flanders Make vzw, Lommel, Belgium

    Bart Meyers

  4. Makerere University, Kampala, Uganda

    Swaib Dragule

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  1. Swaib Dragule
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Correspondence to Patrizio Pelliccione .

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Editors and Affiliations

  1. Newcastle University, Newcastle-upon-Tyne, United Kingdom

    Alexander Romanovsky

  2. Åbo Akademi University, Turku, Finland

    Elena A. Troubitsyna

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Dragule, S., Meyers, B., Pelliccione, P. (2017). A Generated Property Specification Language for Resilient Multirobot Missions. In: Romanovsky, A., Troubitsyna, E. (eds) Software Engineering for Resilient Systems. SERENE 2017. Lecture Notes in Computer Science(), vol 10479. Springer, Cham. https://doi.org/10.1007/978-3-319-65948-0_4

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  • DOI: https://doi.org/10.1007/978-3-319-65948-0_4

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