RoboSC: a domain-specific language for supervisory controller synthesis of ROS applications

被引：0

作者：

Wesselink, Bart ^{[1
]}

de Vos, Koen ^{[2
]}

Kuertev, Ivan ^{[1
]}

Reniers, Michel ^{[2
]}

Torta, Elena ^{[2
]}

机构：

[1] Eindhoven Univ Technol, Fac Comp Sci, Eindhoven, Netherlands

[2] Eindhoven Univ Technol, Fac Mech Engn, Eindhoven, Netherlands

来源：

2023 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2023) | 2023年

关键词：

D O I：

10.1109/ICRA48891.2023.10161436

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The paper presents a novel domain-specific language, RoboSC, for developing supervisory controllers for robotic applications. RoboSC supports concepts of ROS/ROS2 and supervisory control theory. It enables users to focus on the modeling and the synthesis process of supervisory controllers for ROS applications only because it generates all artifacts needed to connect such controllers to ROS applications and deploy them. Validation tests with actual and simulated robots show the approach's feasibility and indicate reduced coding effort.

引用

页码：9090 / 9096

页数：7

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