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Modern Operating Systems

IEEE International Conference on Robotics and Automation (ICRA) におけるフルードパワー技術の研究動向

Autonomous robotic systems are complex, hybrid, and often safety critical; this makes their formal specification and verification uniquely challenging. Though commonly used, testing and simulation alone are insufficient to ensure the correctness of, or provide sufficient evidence for the certification of, autonomous robotics. Formal methods for autonomous robotics have received some attention in the literature, but no resource provides a current overview. This article systematically surveys the state of the art in formal specification and verification for autonomous robotics. Specially, it identifies and categorizes the challenges posed by, the formalisms aimed at, and the formal approaches for the specification and verification of autonomous robotics.

https://dl.acm.org/doi/pdf/10.1145/3342355

Formal Specification and Verification of Autonomous Robotic Systems: A Survey

Autonomous robotic systems are complex, hybrid, and often safety-critical; this makes their formal specification and verification uniquely challenging. Though commonly used, testing and simulation alone are insufficient to ensure the correctness of, or provide sufficient evidence for the certification of, autonomous robotics. Formal methods for autonomous robotics has received some attention in the literature, but no resource provides a current overview. This paper systematically surveys the state-of-the-art in formal specification and verification for autonomous robotics. Specially, it identifies and categorises the challenges posed by, the formalisms aimed at, and the formal approaches for the specification and verification of autonomous robotics.

Automatic design is a promising approach to the design of control software for robot swarms. In an automatic design method, the design problem is cast into an optimization problem and is addressed using an optimization algorithm. In this article, we review studies in which automatic design methods are successfully applied. In particular, we focus our attention on how automatic methods are empirically assessed. An apparent issue that emerges from our review is that a solid, well- established, and consistently applied empirical practice is still missing. For example, studies that propose new methods and ideas do not typically provide any comparison with existing ones. We maintain that the lack of a proper empirical practice hinders the progress of the domain. In this article, we pursue two goals: we highlight the notable achievements in the automatic design of control software for robot swarms and we discuss the challenges to be overcome to establish a proper empirical practice for the domain.

/pdf/automatic-design-of-robot-swarms-achievements-and-challenges-tpvnr6dirq.pdf

Automatic design of robot swarms: achievements and challenges

Currently, the control software of swarm robotics systems is created by ad hoc development. This makes it hard to deploy these systems in real-world scenarios. In particular, it is difficult to maintain, analyse, or verify the systems. Formal methods can contribute to overcome these problems. However, they usually do not guarantee that the implementation matches the specification, because the system’s control code is typically generated manually. Also, there is cultural resistance to apply formal methods; they may be perceived as an additional step that does not add value to the final product. To address these problems, we propose supervisory control theory for the domain of swarm robotics. The advantages of supervisory control theory, and its associated tools, are a reduction in the amount of ad hoc development, the automatic generation of control code from modelled specifications, proofs of properties over generated control code, and the reusability of formally designed controllers between different robotic platforms. These advantages are demonstrated in four case studies using the e-puck and Kilobot robot platforms. Experiments with up to 600 physical robots are reported, which show that supervisory control theory can be used to formally develop state-of-the-art solutions to a range of problems in swarm robotics.

/pdf/supervisory-control-theory-applied-to-swarm-robotics-5ak7h7td3a.pdf

Supervisory control theory applied to swarm robotics

At present, most of the source code controlling swarm robotic systems is developed in an ad-hoc manner. This can make it difficult to maintain these systems and to guarantee that they will accomplish the desired behaviour. Formal approaches can help to solve these issues. However, they do not usually guarantee that the final source code will match the modelled specification. To address this problem, our research explores the application of formal approaches to both synthesise high-level controllers and automatically generate control software for a swarm of robots. The formal approach used in this paper is supervisory control theory. The approach is successfully validated in two experiments using up to 42 Kilobot robots and up to 26 e-puck robots.

Application of Supervisory Control Theory to Swarms of e-puck and Kilobot Robots

This paper presents OpenSwarm, a lightweight easy-to-use open-source operating system. To our knowledge, it is the first operating system designed for and deployed on miniature robots. OpenSwarm operates directly on a robot's microcontroller. It has a memory footprint of 1 kB RAM and 12 kB ROM. OpenSwarm enables a robot to execute multiple processes simultaneously. It provides a hybrid kernel that natively supports preemptive and cooperative scheduling, making it suitable for both computationally intensive and swiftly responsive robotics tasks. OpenSwarm provides hardware abstractions to rapidly develop and test platform-independent code. We show how OpenSwarm can be used to solve a canonical problem in swarm robotics—clustering a collection of dispersed objects. We report experiments, conducted with five e-puck mobile robots, that show that an OpenSwarm implementation performs as good as a hardware-near implementation. The primary goal of OpenSwarm is to make robots with severely constrained hardware more accessible, which may help such systems to be deployed in real-world applications.

/pdf/openswarm-an-event-driven-embedded-operating-system-for-5durq8fpvv.pdf

Yuri Kaszubowski Lopes

Papers

Supervisory control theory applied to swarm robotics

Application of Supervisory Control Theory to Swarms of e-puck and Kilobot Robots

OpenSwarm: An event-driven embedded operating system for miniature robots

Flexible control of Discrete Event Systems using environment simulation and Reinforcement Learning

Nadzoru: A Software Tool for Supervisory Control of Discrete Event Systems