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Communications of the ACM
A Software Platform for Component Based RT-System Development: OpenRTM-Aist
SIMPAR '08 Proceedings of the 1st International Conference on Simulation, Modeling, and Programming for Autonomous Robots
Soundness and separability of workflow nets in the stepwise refinement approach
ICATPN'03 Proceedings of the 24th international conference on Applications and theory of Petri nets
Construction of asynchronous communicating systems: weak termination guaranteed!
SC'10 Proceedings of the 9th international conference on Software composition
Refinement of synchronizable places with multi-workflow nets: weak termination preserved
PETRI NETS'11 Proceedings of the 32nd international conference on Applications and theory of Petri Nets
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The Robot Operating System (ROS) is a popular software framework to develop and execute software for robot systems. ROS supports component-based development and provides a communication layer for easy integration. It supports three interaction patterns that are essential for control systems: the publish-subscribe pattern, the remote procedure call pattern and the goal-feedback-result pattern. In this paper we apply Petri nets to develop a structured design method for ROS systems, such that the weak termination property is guaranteed. The method is based on stepwise refinement using three interaction patterns and components modeled as state machines. The method is illustrated with a case study of robot ROSE.