2022 IEEE/ACM 4th International Workshop on Robotics Software Engineering (RoSE)最新文献

Towards flexible Runtime Monitoring Support for ROS-based Applications 为基于ros的应用程序提供灵活的运行时监控支持

2022 IEEE/ACM 4th International Workshop on Robotics Software Engineering (RoSE) Pub Date : 2022-05-01 DOI: 10.1145/3526071.3527515

Marco Stadler, Michael Vierhauser, J. Cleland-Huang

{"title":"Towards flexible Runtime Monitoring Support for ROS-based Applications","authors":"Marco Stadler, Michael Vierhauser, J. Cleland-Huang","doi":"10.1145/3526071.3527515","DOIUrl":"https://doi.org/10.1145/3526071.3527515","url":null,"abstract":"Robotic systems are becoming common in different domains and for various purposes, such as unmanned aerial vehicles performing search and rescue operations, or robots operating in manufacturing plants. Such systems are characterized by close interactions, or even collaborations, between hardware and machinery on the one hand, and humans on the other. Furthermore, as Cyber-Physical Systems (CPS) in general and robotic applications in particular typically operate in an emergent environment, unanticipated events may occur during their operation, making the need for runtime monitoring support a crucial yet often time-consuming task. Runtime monitoring typically requires establishing support for collecting data, aggregating and transporting the data to a monitoring framework for persistence and further processing, and finally, performing checks of functional and non-functional properties. In this paper, we present our initial efforts towards a flexible monitoring framework for ROS-based systems. We report on challenges for establishing runtime monitoring support and present our preliminary architecture that aims to significantly reduce the setup and maintenance effort when creating monitors and establishing constraint checks.","PeriodicalId":120831,"journal":{"name":"2022 IEEE/ACM 4th International Workshop on Robotics Software Engineering (RoSE)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133887944","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

An Experience Report on Challenges in Learning the Robot Operating System 学习机器人操作系统的挑战经验报告

2022 IEEE/ACM 4th International Workshop on Robotics Software Engineering (RoSE) Pub Date : 2022-05-01 DOI: 10.1145/3526071.3527521

Paulo Canelas, Miguel Tavares, Ricardo Cordeiro, Alcides Fonseca, C. Timperley

{"title":"An Experience Report on Challenges in Learning the Robot Operating System","authors":"Paulo Canelas, Miguel Tavares, Ricardo Cordeiro, Alcides Fonseca, C. Timperley","doi":"10.1145/3526071.3527521","DOIUrl":"https://doi.org/10.1145/3526071.3527521","url":null,"abstract":"The Robot Operating System (ROS) was initially introduced to lower the barriers to robots software development by reducing the need for extensive domain knowledge. ROS allows developers to build valuable robots by configuring and reusing off-the-shelf components while writing little, if any, code through its modular design, loosely coupled architecture, and rich package ecosystem. However, despite the advantages of this approach, the lack of documentation can present a challenge to novice users. In this work, we discuss the challenges and experience of learning and using ROS from the perspective of three novice users with little to no prior experience in robotics. We report on the experiences in learning ROS through a popular commercial training course provided by The Construct Sim. Through our analysis, we identify several common misunderstandings, mistakes, and bugs, and we outline possible improvements to ROS to overcome these challenges. Our findings motivate further studies on the development of robotic systems in ROS by novice users and promote the improvement of the ROS ecosystem, on educational and training materials of ROS, and on tooling development to help novices identify and correct simple mistakes.","PeriodicalId":120831,"journal":{"name":"2022 IEEE/ACM 4th International Workshop on Robotics Software Engineering (RoSE)","volume":"60 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114760751","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Automated Extraction and Checking of Property Models from Source Code for Robot Swarms 基于源代码的机器人群属性模型的自动提取与检验

2022 IEEE/ACM 4th International Workshop on Robotics Software Engineering (RoSE) Pub Date : 2022-05-01 DOI: 10.1145/3526071.3527516

E. Merlo, Carlo Pinciroli, Jacopo Panerati, Michalis Famelis, G. Beltrame

{"title":"Automated Extraction and Checking of Property Models from Source Code for Robot Swarms","authors":"E. Merlo, Carlo Pinciroli, Jacopo Panerati, Michalis Famelis, G. Beltrame","doi":"10.1145/3526071.3527516","DOIUrl":"https://doi.org/10.1145/3526071.3527516","url":null,"abstract":"As robots become a common presence in our everyday lives, ensuring the security and safety of robotic systems becomes an increasingly important and urgent challenge. Multi-robot systems, in particular, have the potential to revolutionize multiple industries-such as transportation and home care-where safety guarantees are a primary requirement. A known challenge for swarms and multi-robot systems is the gap between requirements and design, due to the need to translate swarm-level objectives into robot-level behaviors. In this paper, we focus on a less studied problem-the gap between requirements and implementation. As a case study, we use Buzz, that is a dynamic programming language designed for swarm robotics applications. Similarly to Python, Lua, and JavaScript, Buzz does not natively offer formal guarantees of correctness or safety. We propose an approach to automatically extract” as-implemented” models from Buzz programs, whose properties can then be formally analyzed and verified. Results obtained from the experiments performed on two medium-size open-source production-level systems for robotics research have also been reported. Our results show that the approach is feasible and is scalable to larger systems.","PeriodicalId":120831,"journal":{"name":"2022 IEEE/ACM 4th International Workshop on Robotics Software Engineering (RoSE)","volume":"53 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116024999","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A skill fault model for autonomous systems 自主系统的技能故障模型

2022 IEEE/ACM 4th International Workshop on Robotics Software Engineering (RoSE) Pub Date : 2022-05-01 DOI: 10.1145/3526071.3527513

Gabriela Medina, Jérémie Guiochet, C. Lesire, A. Manecy

引用次数: 4

Should Robotics Engineering Education Include Software Engineering Education? 机器人工程教育应该包括软件工程教育吗?

2022 IEEE/ACM 4th International Workshop on Robotics Software Engineering (RoSE) Pub Date : 2022-05-01 DOI: 10.1145/3526071.3527514

Milda Zizyte, Trenton Tabor

引用次数: 0

Dynamic Allocation of Service Robot Resources to an Order Picking Task Considering Functional and Non-Functional Properties 考虑功能和非功能特性的服务机器人拣货任务资源动态分配

2022 IEEE/ACM 4th International Workshop on Robotics Software Engineering (RoSE) Pub Date : 2022-05-01 DOI: 10.1145/3526071.3527518

Timo Blender, C. Schlegel

引用次数: 1

On Structuring Energy-aware Sequence-control Software 构建能量感知序列控制软件

2022 IEEE/ACM 4th International Workshop on Robotics Software Engineering (RoSE) Pub Date : 2022-05-01 DOI: 10.1145/3526071.3527517

Reynaldo Cobos Méndez, Eddo Hobert, D. Dresscher, J. Broenink

引用次数: 1

Evaluating PDDL for programming production cells: a case study 评估用于编程生产单元的PDDL:一个案例研究

2022 IEEE/ACM 4th International Workshop on Robotics Software Engineering (RoSE) Pub Date : 2022-05-01 DOI: 10.1145/3526071.3527519

Christoph Mayr-Darn, Alexander Egyed, M. Winterer, Christian Salomon, Harald Fürschuß

引用次数: 2

Software Architecture For Deformable Linear Object Manipulation: A Shape Manipulation Case Study 可变形线性对象操作的软件体系结构:形状操作案例研究

2022 IEEE/ACM 4th International Workshop on Robotics Software Engineering (RoSE) Pub Date : 2022-05-01 DOI: 10.1145/3526071.3527520

Manuel Zürn, Markus Wnuk, A. Lechler, A. Verl

{"title":"Software Architecture For Deformable Linear Object Manipulation: A Shape Manipulation Case Study","authors":"Manuel Zürn, Markus Wnuk, A. Lechler, A. Verl","doi":"10.1145/3526071.3527520","DOIUrl":"https://doi.org/10.1145/3526071.3527520","url":null,"abstract":"Deformable linear object manipulation is challenging due to their high dimensional configuration space and their underactuated nature when manipulated by a robotic gripper. Due to the complexity of the task, robotic manipulation relies on sensors and computationally demanding models, which end up in multiple different software components interacting with each other. Research in deformable object manipulation usually focuses on modeling, planning or control, without focusing on a software architecture. This paper presents a novel software architecture for deformable linear object manipulation. The software architecture includes components for deformable linear object manipulation, namely perception-, observation-, robot control-, planning-, communication- and decision component. On top of these components, a layered software architecture consisting of a decision layer, a skill layer and a functional layer is presented The proposed concept aims to be a blueprint for a unified software architecture satisfying the requirements of robotic systems to achieve deformable linear object manipulation. The validation of the software architecture is done in a case study of an autonomous shape manipulation task, where one robot and a stereo camera shape a deformable linear object to a predefined desired shape. This use case is inspired by an automated cable routing process, which today in the industry is still mainly handled manually and therefore offers a vast potential for automation.","PeriodicalId":120831,"journal":{"name":"2022 IEEE/ACM 4th International Workshop on Robotics Software Engineering (RoSE)","volume":"74 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-05-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114699200","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1