TY - GEN
T1 - Reliable control architecture with PLEXIL and ROS for autonomous wheeled robots
AU - Cadavid, Héctor
AU - Pérez, Alexander
AU - Rocha, Camilo
N1 - Publisher Copyright:
© Springer International Publishing AG 2017.
PY - 2017
Y1 - 2017
N2 - Today’s autonomous robots are being used for complex tasks, including space exploration, military applications, and precision agriculture. As the complexity of control architectures increases, reliability of autonomous robots becomes more challenging to guarantee. This paper presents a hybrid control architecture, based on the Plan Execution Interchange Language (PLEXIL), for autonomy of wheeled robots running the Robot Operating System (ROS). PLEXIL is a synchronous reactive language developed by NASA for mission critical robotic systems, while ROS is one of the most popular frameworks for robotic middle-ware development. Given the safety-critical nature of spacecraft operations, PLEXIL operational semantics has been mathematically defined, and formal techniques and tools have been developed to automatically analyze plans written in this language. The hybrid control architecture proposed in this paper is showcased in a path tracking scenario using the Husky robot platform via a Gazebo simulation. Thanks to the architecture presented in this paper, all formal analysis techniques and tools currently available to PLEXIL are now available to build reliable plans for ROS-enabled wheeled robots.
AB - Today’s autonomous robots are being used for complex tasks, including space exploration, military applications, and precision agriculture. As the complexity of control architectures increases, reliability of autonomous robots becomes more challenging to guarantee. This paper presents a hybrid control architecture, based on the Plan Execution Interchange Language (PLEXIL), for autonomy of wheeled robots running the Robot Operating System (ROS). PLEXIL is a synchronous reactive language developed by NASA for mission critical robotic systems, while ROS is one of the most popular frameworks for robotic middle-ware development. Given the safety-critical nature of spacecraft operations, PLEXIL operational semantics has been mathematically defined, and formal techniques and tools have been developed to automatically analyze plans written in this language. The hybrid control architecture proposed in this paper is showcased in a path tracking scenario using the Husky robot platform via a Gazebo simulation. Thanks to the architecture presented in this paper, all formal analysis techniques and tools currently available to PLEXIL are now available to build reliable plans for ROS-enabled wheeled robots.
KW - Automatic reachability analysis
KW - Control architectures
KW - Formal verification
KW - Plan execution interchange language (PLEXIL)
KW - Rewriting logic
KW - Robot autonomy
KW - Robot operating system (ROS)
UR - http://www.scopus.com/inward/record.url?scp=85028885816&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-66562-7_44
DO - 10.1007/978-3-319-66562-7_44
M3 - Conference contribution
AN - SCOPUS:85028885816
SN - 9783319665610
T3 - Communications in Computer and Information Science
SP - 611
EP - 626
BT - Advances in Computing - 12th Colombian Conference, CCC 2017, Proceedings
A2 - Solano, Andres
A2 - Ordonez, Hugo
PB - Springer Verlag
T2 - 12th Colombian Conference on Computing, CCC 2017
Y2 - 19 September 2017 through 22 September 2017
ER -