Towards code-aware robotic simulation: vision paper
Towards code-aware robotic simulation: vision paper
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迈向代码感知机器人模拟：愿景论文
DOI：
10.1145/3196558.3196566
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发表时间：
2018
期刊：
影响因子：
--
通讯作者：
Elbaum, Sebastian
中科院分区：
文献类型：
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作者：
Ore, John-Paul;Detweiler, Carrick;Elbaum, Sebastian
这篇愿景论文探讨了利用从程序分析中收集的见解极大地丰富机器人模拟的潜力，并有望成为未来机器人系统开发人员减少工作量和发现棘手问题的关键工具。机器人仿真是开发、测试和验证机器人软件的关键、经济有效的工具。然而，大多数机器人模拟都故意不知道代码是如何工作的。我们的方法利用了两个最新的发展：1）自动程序分析，可以在语义上将程序变量和谓词与物理量（如距离，速度或力）联系起来; 2）标准化的仿真规范，可以识别仿真的元素以及如何仿真。代码感知机器人仿真可以使越来越依赖仿真的机器人系统开发人员能够通过访问更丰富的仿真场景来降低系统开发的成本和风险。我们使用机器人操作系统（ROS）和模拟描述格式（SDFormat），使用C++的详细，分步说明来描述该方法，并确定实现这一愿景的关键挑战。
This vision paper explores the potential to dramatically enrich robotic simulations with insights gleaned from program analysis, and promises to be a key tool for future robot system developers to reduce effort and find tricky corner cases. Robotic simulations are a critical, cost-effective tool for developing, testing, and validating robotic software. However, most robotics simulations are intentionally unaware of how the code works. Our approach leverages two recent developments: 1) automatic program analysis that can semantically ground program variables and predicates in physical quantities like distance, velocity, or force; and 2) standardized simulation specifications that identify both what elements are simulated and also how they are simulated. Code-aware robotic simulation could enable robot system developers who increasingly rely on simulation to lower the cost and risk of system development by having access to richer simulation scenarios. We describe the approach using a detailed, step-by-step illustration for C++ using the Robot Operating System (ROS) and the Simulation Description Format (SDFormat), and identify key challenges to realizing this vision.