2021 IEEE/ACM 3rd International Workshop on Robotics Software Engineering (RoSE)最新文献_第2页

Inferred Interactive Controls Through Provenance Tracking of ROS Message Data 通过对ROS消息数据的来源跟踪来推断交互控制

2021 IEEE/ACM 3rd International Workshop on Robotics Software Engineering (RoSE) Pub Date : 2021-06-01 DOI: 10.1109/RoSE52553.2021.00018

Thomas E. F. Witte, M. Tichy

{"title":"Inferred Interactive Controls Through Provenance Tracking of ROS Message Data","authors":"Thomas E. F. Witte, M. Tichy","doi":"10.1109/RoSE52553.2021.00018","DOIUrl":"https://doi.org/10.1109/RoSE52553.2021.00018","url":null,"abstract":"Interactive controls that enrich visualizations need domain knowledge to create a sensible visual representation, as well as access to parameters and data to manipulate. However, source data and the means to visualize them are often scattered across multiple components, making it hard to link a value change in the interface to the appropriate source data. Provenance, the documentation of the origin and history of message data, can be used to reverse the evaluation of a value and change it at its source. We present a communication pattern as well as a C++ support library for ROS to track the provenance of message data across multiple nodes and apply source changes, reversing any transformation on the tracked data. We demonstrate that it is possible to automatically infer interactive 3D user interfaces from standard, non-interactive ROS visualizations by leveraging this additional tracking information. Preliminary results from a prototypical implementation of multiple origin tracking enabled ROS nodes indicate, that this tracking introduces a significant but still practicable message size and serialization performance overhead. To apply this tracking to existing C++ codebases only small, syntactic changes are necessary: a wrapper type around tracked values hides all necessary bookkeeping.","PeriodicalId":184729,"journal":{"name":"2021 IEEE/ACM 3rd International Workshop on Robotics Software Engineering (RoSE)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127979266","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: 3

Architecture for Emergency Control of Autonomous UAV Ensembles**This work is partly funded by the German Research Foundation (DFG) under the COMBO grant 自主无人机系统应急控制体系结构**这项工作由德国研究基金会(DFG)在COMBO资助下部分资助

2021 IEEE/ACM 3rd International Workshop on Robotics Software Engineering (RoSE) Pub Date : 2021-06-01 DOI: 10.1109/RoSE52553.2021.00014

Martin Schörner, Constantin Wanninger, A. Hoffmann, Oliver Kosak, W. Reif

{"title":"Architecture for Emergency Control of Autonomous UAV Ensembles**This work is partly funded by the German Research Foundation (DFG) under the COMBO grant","authors":"Martin Schörner, Constantin Wanninger, A. Hoffmann, Oliver Kosak, W. Reif","doi":"10.1109/RoSE52553.2021.00014","DOIUrl":"https://doi.org/10.1109/RoSE52553.2021.00014","url":null,"abstract":"Applying unmanned aerial vehicles (UAV) has benefits for many different use-cases. Existing implementations of ground control stations (GCS) to manage UAVs in such scenarios already provide some support for the operation of multi-unit systems, i.e., ensembles. However, since they are usually designed for the operation of only one copter at once, this is often not sufficient to react quickly in dangerous situations, e.g., search and rescue scenarios. To address this problem, we propose an approach for easy observation and control of complete autonomous UAV ensembles: The Intention of our approach is to greatly reduce the number of personnel required for the operation of an UAV ensemble. Thereby, we generate the possibility for rapid intervention in potentially dangerous situations in order to prevent damage to the UAVs and the environment. In this paper, we present a software architecture for this safety-critical multi UAV ground control station including a fully implemented prototype which we also tested in a realistic environment.","PeriodicalId":184729,"journal":{"name":"2021 IEEE/ACM 3rd International Workshop on Robotics Software Engineering (RoSE)","volume":"18 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114993443","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

Specifying QoS Requirements and Capabilities for Component-Based Robot Software 为基于组件的机器人软件指定QoS要求和功能

2021 IEEE/ACM 3rd International Workshop on Robotics Software Engineering (RoSE) Pub Date : 2021-06-01 DOI: 10.1109/RoSE52553.2021.00012

Samuel Parra, Sven Schneider, N. Hochgeschwender

{"title":"Specifying QoS Requirements and Capabilities for Component-Based Robot Software","authors":"Samuel Parra, Sven Schneider, N. Hochgeschwender","doi":"10.1109/RoSE52553.2021.00012","DOIUrl":"https://doi.org/10.1109/RoSE52553.2021.00012","url":null,"abstract":"Assembling robotic multi-agent systems is becoming increasingly attractive due to the emergence of affordable robots. For coordinated missions such fleets usually have to communicate over unreliable channels and still achieve adequate performance. To support system designers in quantifying adequateness, in this paper we present a domain-specific language (DSL) that allows domain-experts to specify (i) quality of service (QoS) requirements of the communication channels; and (ii) QoS capabilities of the involved software components. Such QoS specifications complement the QoS management that has recently been introduced into ROS 2. To fully utilize this approach we have also developed an associated ROS 2 DSL which enables us to verify QoS specifications and provide feedback to the users already at design time. We have evaluated the developed language workbench following the Goal-Question-Metric (GQM) approach which demonstrates that the QoS DSL is complete with respect to ROS 2 and can be easily extended. Additionally, we generate a proof-of-concept implementation for a QoS monitor that can be seamlessly integrated into existing ROS 2 projects.","PeriodicalId":184729,"journal":{"name":"2021 IEEE/ACM 3rd International Workshop on Robotics Software Engineering (RoSE)","volume":"15 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2021-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"123029480","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: 6

The High-Assurance ROS Framework 高保证ROS框架

2021 IEEE/ACM 3rd International Workshop on Robotics Software Engineering (RoSE) Pub Date : 2021-03-02 DOI: 10.1109/RoSE52553.2021.00013

A. Santos, Alcino Cunha, Nuno Macedo

引用次数: 4

2021 IEEE/ACM 3rd International Workshop on Robotics Software Engineering (RoSE) 2021 IEEE/ACM第三届机器人软件工程国际研讨会

2021 IEEE/ACM 3rd International Workshop on Robotics Software Engineering (RoSE) Pub Date : 2019-05-01 DOI: 10.1109/rose47437.2019

引用次数: 0