Designing autonomous robots: Toward a more dependable software architecture

IEEE Robotics and Automation Magazine

Volumn 16, Issue 1, 2009, Pages 67-77

  Bensalem, Saddek ^a,b   Gallien, Matthieu ^c   Ingrand, Félix ^b,c   Kahloul, Imen ^c   Thanh Hung, Nguyen ^d  

^a UNIV GRENOBLE ALPES   (France)

^b LAAS CNRS   (France)

^c UNIVERSITÉ DE TOULOUSE   (France)

^d VERIMAG   (France)

Author keywords

Correct by construction robot controller; Dependable autonomous robot; Validable and verifiable autonomous systems

Indexed keywords

COMPLEX SYSTEMS; CORRECT BY CONSTRUCTION ROBOT CONTROLLER; CRITICAL SYSTEMS; DEPENDABLE AUTONOMOUS ROBOT; DEPENDABLE SOFTWARE ARCHITECTURES; HETEROGENEOUS SOFTWARES; REAL-TIME CONSTRAINTS; SAFETY PROPERTIES; VALIDABLE AND VERIFIABLE AUTONOMOUS SYSTEMS;

INDUSTRIAL ROBOTS; REAL TIME SYSTEMS; SOFTWARE ARCHITECTURE;

ROBOTICS;

EID: 64049109939     PISSN: 10709932     EISSN: None     Source Type: Journal    
DOI: 10.1109/MRA.2008.931631     Document Type: Article

References (15)

1. M. Montemerlo, J. Pineau, N. Roy, S. Thrun, and V. Verma, "Experiences with a mobile robotic guide for the elderly," in Proc. AAAI Natl. Conf. Artificial Intelligence, Edmonton, Canada, 2002.
2. A. Clodic, S. Fleury, R. Alami, R. Chatila, G. Bailly, L. Brthes, M. Cottret, P. Dans, X. Dollat, F. Elise, I. Ferran, M. Herrb, G. Infantes, C. Lemaire, P. Lerasle, J. Manhes, P. Marcoul, P. Menezes, and V. Montreuil, "Rackham: An interactive robot-guide," in Proc. IEEE Int. Symp. Robot and Human Interactive Communication (Demonstration Session) (RO-MAN), Univ. of Hertforshire, Hatfield, U.K., Sept. 6-8, 2006, pp. 502-509 [Online]. Available: http://www.ieee.org/
3. A. Shakhimardanov and E. Prassler, "Comparative evaluation of robotic software integration systems: A case study," Intell. Robot. Syst. Jan. 2007.
4. J. Kramer and M. Scheutz, "Development environments for autonomous mobile robots: A survey," Autonom. Robot., vol. 22, 2007.
5. B. Espiau, K. Kapellos, and M. Jourdan, "Formal verification in robotics: Why and how," in Proc. 7th Int. Symp. Robotics Research International Foundation for Robotics Research, Ed. Munich, Germany: Cambridge Univ. Press, Oct. 1995, pp. 201-213.
6. E. M. Clarke and J. M. Wing, "Formal methods: State of the art and future directions," ACM Comput. Surv., vol. 28, no. 4, pp. 626-643, 1996.
7. T. Henzinger and J. Sifakis, "The discipline of embedded systems design," IEEE Comput., vol. 40, no. 10, pp. 36-44, 2007.
8. R. Alami, R. Chatila, S. Fleury, M. Ghallab, and F. Ingrand, "An architecture for autonomy," Int. J. Robot. Res. (Special Issue on Integrated Architectures for Robot Control and Programming), vol. 17, no. 4, 1998.
9. F. Py and F. Ingrand, "Dependable execution control for autonomous robots," in Proc. IEEE Int. Conf. Intelligent Robots and Systems, Sendai, Japan, 2004.
10. J. Sifakis, "A framework for component-based construction extended abstract," in Proc. IEEE Int. Conf. Software Engineering and Formal Methods, 2005, pp. 293-300.
11. N. Halbwachs, Synchronous Programming of Reactive Systems. Norwell, MA: Kluwer, 1993.
12. A. Basu, M. Bozga, and J. Sifakis, "Modeling heterogeneous real-time components in BIP," in Proc. IEEE Int. Conf. Software Engineering and Formal Methods, Pune, India, 2006, pp. 3-12.
13. A. Basu, P. Bidinger, M. Bozga, and J. Sifakis, "Distributed semantics and implementation for systems with interaction and priority," in Proc. Int. Conf. Formal Techniques for Networked and Distributed Systems (FORTE'08), LNCS. New York: Springer-Verlag, 2008, pp. 116-133.
14. S. Bensalem, M. Bozga, J. Sifakis, and T.-H. Nguyen, "Compositional verification for component-based systems and application," in Proc. 6th Int. Symp. Automated Technology for Verification and Analysis, Seoul, South Korea, Oct. 2008, pp. 64-79.
15. Y. Abdeddam, E. Asarin, M. Gallien, F. Ingrand, C. Lesire, and M. Sighireanu, "A comparison between CBTP and TGA approaches," in Proc. Int. Conf. Automated Planning and Scheduling Providence, RI, 2007, pp. 2-9.