Architectural modelling for robotics: RoboArch and the CorteX example.
Architectural modelling for robotics: RoboArch and the CorteX example.
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DOI：
10.3389/frobt.2022.991637
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发表时间：
2022
影响因子：
3.4
通讯作者：
Miyazawa, Alvaro
中科院分区：
文献类型：
--
作者：
Barnett, Will;Cavalcanti, Ana;Miyazawa, Alvaro
随着机器人越来越多地用于具有安全影响的复杂应用中，对机器人系统进行验证的需求也在增长。模型驱动工程和领域特定语言（DSL）在复杂系统的开发中已被证明是有用的。RoboChart是一个DSL，用于使用状态机和简单的组件模型对机器人软件控制器进行建模。它的独特之处在于它具有形式化的语义和对自动验证的支持。我们的工作丰富了RoboChart，支持机器人领域中使用的建模架构和架构模式。RoboArch是一种额外的DSL形式的支持，其原始概念封装了分层架构和架构模式的概念，用于设计仅在文献中非正式描述的层。RoboArch模型可以用来自动生成RoboChart模型的草图，自动生成的规则定义了RoboArch的语义。其他模式可以通过扩展RoboArch来形式化。在本文中，我们提出了RoboArch，并给出了它如何与CorteX，一个为核工业开发的软件框架结合使用的观点。
The need for robotic systems to be verified grows as robots are increasingly used in complex applications with safety implications. Model-driven engineering and domain-specific languages (DSLs) have proven useful in the development of complex systems. RoboChart is a DSL for modelling robot software controllers using state machines and a simple component model. It is distinctive in that it has a formal semantics and support for automated verification. Our work enriches RoboChart with support for modelling architectures and architectural patterns used in the robotics domain. Support is in the shape of an additional DSL, RoboArch, whose primitive concepts encapsulate the notion of a layered architecture and architectural patterns for use in the design of the layers that are only informally described in the literature. A RoboArch model can be used to generate automatically a sketch of a RoboChart model, and the rules for automatic generation define a semantics for RoboArch. Additional patterns can be formalised by extending RoboArch. In this paper, we present RoboArch, and give a perspective of how it can be used in conjunction with CorteX, a software framework developed for the nuclear industry.