research-article

Compositional Design of Multi-Robot Systems Control Software on ROS

Authors:

Stefano Spellini,

Sudipta ChattopadhyayAuthors Info & Claims

ACM Transactions on Embedded Computing Systems (TECS), Volume 18, Issue 5s

Article No.: 71, Pages 1 - 24

https://doi.org/10.1145/3358197

Published: 08 October 2019 Publication History

Abstract

This paper presents a methodology that relies on Assume-Guarantee Contracts to decompose the problem of synthesizing control software for a multi-robot system. Initially, each contract describes either a component (e.g., a robot) or an aspect of the system. Then, the design problem is decomposed into different synthesis and verification sub-problems, allowing to tackle the complexity involved in the design process. The design problem is then recomposed by exploiting the rigorousness provided by contracts. This allows us to achieve system-level simulation capable to be used for validating the entire design. Once validated, the software synthesized during the process can be integrated into Robot Operating System (ROS) nodes and executed using state-of-the-practice packages and tools for modern robotic systems.

We apply the methodology to generate a control strategy for an autonomous goods transportation system. Our results show a massive reduction of the time required to obtain automatically the control software implementing a multi-robot mission.

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https://doi.org/10.3390/s23125724
Hasta Putra PRiansyah MAl Farouq A(2022)Localization Design and Implementation Using Combined Rotary Encoder, IMU, and ROS on Delivery Service Robots in Building Area2022 8th International Conference on Science and Technology (ICST)10.1109/ICST56971.2022.10136264(1-6)Online publication date: 7-Sep-2022
https://doi.org/10.1109/ICST56971.2022.10136264
Zheng ZGong HDuan RQiu XZou J(2022)Design of multi-robot collaborative navigation and control system based on ROS and laser SLAMJournal of Physics: Conference Series10.1088/1742-6596/2284/1/0120082284:1(012008)Online publication date: 1-Jun-2022
https://doi.org/10.1088/1742-6596/2284/1/012008
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Index Terms

Compositional Design of Multi-Robot Systems Control Software on ROS

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Published In

cover image ACM Transactions on Embedded Computing Systems

ACM Transactions on Embedded Computing Systems Volume 18, Issue 5s

Special Issue ESWEEK 2019, CASES 2019, CODES+ISSS 2019 and EMSOFT 2019

October 2019

1423 pages

ISSN:1539-9087

EISSN:1558-3465

DOI:10.1145/3365919

Editor:
Sandeep K. Shukla
Indian Institute of Technology, India

Issue’s Table of Contents

Copyright © 2019 ACM.

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

New York, NY, United States

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ACM Journals for the Design of Smart and Connected Systems

Publication History

Published: 08 October 2019

Accepted: 01 July 2019

Revised: 01 June 2019

Received: 01 April 2019

Published in TECS Volume 18, Issue 5s

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Ministero dellðIstruzione, dellðUniversità e della Ricerca
Ministry of Education - Singapore

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Cited By

Chen CLin FLin C(2023)The Energy Efficiency Multi-Robot System and Disinfection Service Robot Development in Large-Scale Complex EnvironmentSensors10.3390/s2312572423:12(5724)Online publication date: 19-Jun-2023
https://doi.org/10.3390/s23125724
Hasta Putra PRiansyah MAl Farouq A(2022)Localization Design and Implementation Using Combined Rotary Encoder, IMU, and ROS on Delivery Service Robots in Building Area2022 8th International Conference on Science and Technology (ICST)10.1109/ICST56971.2022.10136264(1-6)Online publication date: 7-Sep-2022
https://doi.org/10.1109/ICST56971.2022.10136264
Zheng ZGong HDuan RQiu XZou J(2022)Design of multi-robot collaborative navigation and control system based on ROS and laser SLAMJournal of Physics: Conference Series10.1088/1742-6596/2284/1/0120082284:1(012008)Online publication date: 1-Jun-2022
https://doi.org/10.1088/1742-6596/2284/1/012008
Spellini SChirico RPanato MLora MFummi F(2021)Virtual Prototyping a Production Line Using Assume–Guarantee ContractsIEEE Transactions on Industrial Informatics10.1109/TII.2020.303867917:9(6294-6302)Online publication date: Sep-2021
https://doi.org/10.1109/TII.2020.3038679
Spellini SChirico RPanato MLora MFummi FDi Natale GFummi F(2020)Production recipe validation through formalization and digital twin generationProceedings of the 23rd Conference on Design, Automation and Test in Europe10.5555/3408352.3408739(1698-1703)Online publication date: 9-Mar-2020
https://dl.acm.org/doi/10.5555/3408352.3408739
Cardoso RDennis LFarrell MFisher MLuckcuck M(2020)Towards Compositional Verification for Modular Robotic SystemsElectronic Proceedings in Theoretical Computer Science10.4204/EPTCS.329.2329(15-22)Online publication date: 3-Dec-2020
https://doi.org/10.4204/EPTCS.329.2
Spellini SChirico RPanato MLora MFummi F(2020)Production Recipe Validation through Formalization and Digital Twin Generation2020 Design, Automation & Test in Europe Conference & Exhibition (DATE)10.23919/DATE48585.2020.9116343(1698-1703)Online publication date: Mar-2020
https://doi.org/10.23919/DATE48585.2020.9116343

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