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Koord: A language for programming and Verifying Distributed robotics Application

PROCEEDINGS OF THE ACM ON programming languageS-PACMPL 2020年第OOPSLA期4卷 1–30页

作者： Ghosh, Ritwika Hsieh, Chiao Misailovic, Sasa Mitra, Sayan Univ Illinois Urbana IL 61801 USA

A robot's code needs to sense the environment, control the hardware, and communicate with other robots. Current programming languages do not provide suitable abstractions that are independent of hardware platforms. Currently, developing robot applications requires detailed knowledge of signal processing, control, path planning, network protocols, and various platform-specific details. Further, porting applications across hardware platforms remains tedious. We present Koord a domain specific language for distributed robotics which abstracts platform-specific functions for sensing, communication, and low-level control. Koord makes the platform-independent control and coordination code portable and modularly verifiable. Koord raises the level of abstraction in programming by providing distributed shared memory for coordination and port interfaces for sensing and control. We have developed the formal executable semantics of Koord in the K framework. With this symbolic execution engine, we can identify assumptions (proof obligations) needed for gaining high assurance from Koord applications. We illustrate the power of Koord through three applications: formation flight, distributed delivery, and distributed mapping. We also use the three applications to demonstrate how platform-independent proof obligations can be discharged using the Koord Prover while platform-specific proof obligations can be checked by verifying the obligations using physics-based models and hybrid verification tools.

关键词： Distributed robotics programming language for robotics

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DRONA: A Framework for Safe Distributed Mobile robotics 17

DRONA: A Framework for Safe Distributed Mobile Robotics

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8th ACM/IEEE International Conference on Cyber-Physical Systems (ICCPS) held as part of Cyber-Physical Systems Week

作者： Desai, Ankush Saha, Indranil Yang, Jianqiao Qadeer, Shaz Seshia, Sanjit A. Univ Calif Berkeley Berkeley CA 94720 USA Indian Inst Technol Kanpur Uttar Pradesh India Microsoft Res Redmond WA USA

ISBN: (纸本)9781450349659

Distributed mobile robotics (DMR) involves teams of networked robots navigating in a physical space to achieve tasks in a coordinated fashion. A major challenge in DMR is to program the ensemble of robots with formal guarantees and high assurance of correct operation. To this end, we introduce DRONA, a framework for building reliable DMR applications. This paper makes three central contributions: (1) We present a novel and provably correct decentralized asynchronous motion planner that can perform on-the-fly collision-free planning for dynamically generated tasks. Moreover, the motion planner is the first to take into account the fact that distributed robots may have clocks that are only synchronized up to a tolerance, i.e., they are almost synchronous;(2) We formalize the DMR system as a mixed-synchronous system, and present a sound abstraction-based verification approach for DMR systems, and (3) DRONA provides a state-machine based language for safe event-driven programming of a DMR system and the code generated by the compiler can be executed on platforms such as the robot operating system (ROS). To demonstrate the efficacy of DRONA, we build and verify a priority mail delivery system. Using our abstraction-based verification approach we were able to find, within a few minutes, bugs which could not be found by performing random simulation for several hours. Our verified decentralized motion-planner scales efficiently for large number of robots (upto 128 robots) and workspace sizes (upto a 256x256 grid).

关键词： Distributed robotics Verification programming language for robotics Safe Mobile robotics Multi-Robot Motion Planning

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