机器人任务的属性规范模式

C. Menghi, Christos Tsigkanos, T. Berger, Patrizio Pelliccione, C. Ghezzi
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引用次数: 17

摘要

工程可靠的移动机器人软件变得越来越重要。工程移动机器人的核心资产是任务规范——对移动机器人应实现的目标的正式描述。这些任务规范被用来综合、验证、模拟或指导机器人软件的工程。制定精确的任务规格具有挑战性。工程师需要将任务需求转换成用逻辑语言表达的规范结构——这是一项费力且容易出错的任务。为了缓解这一问题,我们提出了移动机器人的任务规范模式目录。我们的重点是机器人运动,这是移动机器人最突出和最常见的规范问题之一。我们的目录将常见的任务规范问题映射到循环的解决方案,我们将其作为工程师可以使用的模板提供。这些模式是从文献中提取的分析任务的结果。对于每个模式,我们描述了使用意图、已知用途、与其他模式的关系,以及——最重要的——将解决方案表示为时态逻辑中的逻辑公式的模板。我们的规范模式构成了可重用的构建块,工程师可以使用它来创建复杂的任务规范,同时减少规范错误。我们相信,我们的模式支持研究人员在工具支持和技术上综合和验证任务规范,支持语言设计师为移动机器人创建丰富的特定领域语言,并将我们的模式作为语言概念结合起来。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Property specification patterns for robotic missions
Engineering dependable software for mobile robots is becoming increasingly important. A core asset in engineering mobile robots is the mission specification---a formal description of the goals that mobile robots shall achieve. Such mission specifications are used, among others, to synthesize, verify, simulate, or guide the engineering of robot software. Development of precise mission specifications is challenging. Engineers need to translate the mission requirements into specification structures expressed in a logical language---a laborious and error-prone task. To mitigate this problem, we present a catalog of mission specification patterns for mobile robots. Our focus is on robot movement, one of the most prominent and recurrent specification problems for mobile robots. Our catalog maps common mission specification problems to recurrent solutions, which we provide as templates that can be used by engineers. The patterns are the result of analyzing missions extracted from the literature. For each pattern, we describe usage intent, known uses, relationships to other patterns, and---most importantly---a template representing the solution as a logical formula in temporal logic. Our specification patterns constitute reusable building blocks that can be used by engineers to create complex mission specifications while reducing specification mistakes. We believe that our patterns support researchers working on tool support and techniques to synthesize and verify mission specifications, and language designers creating rich domain-specific languages for mobile robots, incorporating our patterns as language concepts.
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