A logic-based calculus of events
New Generation Computing
Theoretical Computer Science
The unified software development process
The unified software development process
Maintaining knowledge about temporal intervals
Communications of the ACM
Synchronous Programming of Reactive Systems
Synchronous Programming of Reactive Systems
Model-based programming of fault-aware systems
AI Magazine
Model-Based Testing of Reactive Systems: Advanced Lectures (Lecture Notes in Computer Science)
Model-Based Testing of Reactive Systems: Advanced Lectures (Lecture Notes in Computer Science)
A Framework for Component-based Construction Extended Abstract
SEFM '05 Proceedings of the Third IEEE International Conference on Software Engineering and Formal Methods
Modeling Heterogeneous Real-time Components in BIP
SEFM '06 Proceedings of the Fourth IEEE International Conference on Software Engineering and Formal Methods
Development environments for autonomous mobile robots: A survey
Autonomous Robots
Decisional autonomy of planetary rovers: Research Articles
Journal of Field Robotics
The Algebra of Connectors—Structuring Interaction in BIP
IEEE Transactions on Computers
Compositional Verification for Component-Based Systems and Application
ATVA '08 Proceedings of the 6th International Symposium on Automated Technology for Verification and Analysis
Receding horizon control for temporal logic specifications
Proceedings of the 13th ACM international conference on Hybrid systems: computation and control
From high-level component-based models to distributed implementations
EMSOFT '10 Proceedings of the tenth ACM international conference on Embedded software
Model-based implementation of real-time applications
EMSOFT '10 Proceedings of the tenth ACM international conference on Embedded software
Correct Implementation of Open Real-Time Systems
SEAA '11 Proceedings of the 2011 37th EUROMICRO Conference on Software Engineering and Advanced Applications
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We have recently started an effort to combine a state of the art tool for developing functional modules of robotic systems (G^e^noM) with a component based framework for implementing embedded real-time systems (BIP). Unlike some works which study the connection between formal approaches and the highest (decisional) level of the robot software architecture, where deliberative activities such as planning, diagnostics, and execution control are conducted, we tackle the problem of using formal methods for developing modules of the functional level of robots. Little attention has been drawn to the development of these modules whose robustness is paramount to the robustness of the overall platform. To this end, we have successfully developed the G^e^noM/BIP component based design approach and applied it to the functional level of a complex exploration rover. Here, we report on this work, and show how we: (i) produce a very fine grained formal computational model of the robot functional level; (ii) run the BIP engine on the real robot, which executes and enforces the model semantics at runtime; and (iii) check the model offline for deadlock-freedom, as well as other safety properties. Moreover, we also extended this paradigm in a number of promising directions: (i) introduced a real-time BIP engine which can now use and control a timed BIP model; (ii) distributed the model and the engine over multiple CPUs; (iii) proposed a user-friendly language for specifying constraints on the model; and (iv) linked the model with a temporal plan execution controller. Interestingly, although our approach was initially proposed for the lowest level of robot architectures, these more recent extensions now allow us to model and manage the deliberation taking place at the decisional layer.