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Verifying schedulability of tasks in ROS-based systems

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Abstract

Robot operating system (ROS) is a new programming framework for developing artificial intelligence systems, like robots, unmanned systems, etc. These systems are usually real-time systems. There are multi-tasks to be scheduled by the underlying real-time operating system. Ensuring schedulability of tasks in ROS-based systems (ROS systems for short) is essential for correctness and safety of such systems. This paper employs a model checking approach to verifying schedulability of tasks in ROS systems. In order to verify ROS systems, we investigate the operational semantics of TMSVL programs and develop an interpreter for it. As a case study, the scheduability of tasks in ROS systems is modeled in TMSVL and verified using its interpreter.

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Acknowledgements

This research is supported by NSFC Grant Nos. 61420106004, 61732013, 61751207 and 61572386.

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Authors and Affiliations

  1. ICTT and ISN Laboratory, Xidian University, Xi’an, 710071, China

    Jin Cui, Cong Tian, Nan Zhang & Zhenhua Duan

  2. Shenzhen Graduate School, Harbin Institute of Technology, Shenzhen, 51855, China

    Hongwei Du

Authors
  1. Jin Cui
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  2. Cong Tian
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  3. Nan Zhang
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  4. Zhenhua Duan
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  5. Hongwei Du
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Corresponding authors

Correspondence to Cong Tian, Nan Zhang or Zhenhua Duan.

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Cui, J., Tian, C., Zhang, N. et al. Verifying schedulability of tasks in ROS-based systems. J Comb Optim 37, 901–920 (2019). https://doi.org/10.1007/s10878-018-0328-0

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  • DOI: https://doi.org/10.1007/s10878-018-0328-0

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