检索结果-内蒙古大学图书馆

IEEE Southeastcon

作者： Josh Luzier David C. Conner Department of Physics Computer Science and Engineering Capable Humanitarian Robotics and Intelligent Systems Lab (CHRISLab) Christopher Newport University Newport News Virginia

This paper presents synthesis tools for the ROS 2 version of the Flexible Behavior Engine (FlexBE). Synthesis reduces the need for extensive testing and validation of hand crafted controllers by using mathematically precise specifications to generate “correct-by-construction” behavior controllers. Our approach builds upon work using the GR(1) (General Reactivity of rank 1) fragment of LTL to synthesize a reactive hierarchical finite state machine that can be directly executed in FlexBE. The presented work expands on previous ROS 1 tools, and extends them to ROS 2 in a way that supports more general specifications that incorporate environmental states. This paper presents an accessible open-source demonstration that serves as a general introduction to these powerful synthesis techniques.

关键词：

来源：评论

学校读者我要写书评

暂无评论

ROS 2-Based Flexible Behavior Engine for Flexible Navigation

ROS 2-Based Flexible Behavior Engine for Flexible Navigation

引用

IEEE Southeastcon

作者： Joshua M. Zutell David C. Conner Philipp Schillinger Capable Humanitarian Robotics and Intelligent Systems Lab (CHRISLab) Christopher Newport University Newport News VA Bosch Center for Artificial Intelligence Renningen Germany

Hierarchical Finite State Machines (HFSM) are commonly used as high-level behavioral control strategies for robotic systems. Over the years a number of behavior engines have been developed for the original Robot Operating System (ROS 1), including the popular Flexible Behavior Engine (FlexBE). In recent years a new ROS 2 system has been developed to improve communication performance by using the Data Distribution Service (DDS) protocol. This paper describes the conversion of both FlexBE and the open-source Flexible Navigation system to the latest ROS 2 release, and our experiments with the new system. Both ROS 2 conversions are released as open-source and available for use by the robotics community.

关键词： Protocols Navigation Operating systems Collaboration Automata User interfaces systems support

来源：评论

学校读者我要写书评

暂无评论

Documentation and Modeling of ROS systems

Documentation and Modeling of ROS Systems

引用

IEEE Southeastcon

作者： William R. Drumheller David C. Conner Capable Humanitarian Robotics and Intelligent Systems Lab (CHRISLab) Christopher Newport University Newport News VA

The Robot Operating System (ROS) is frequently used to develop complex robotic systems with many interacting software components. While ROS provides several tools for visualizing active ROS deployments, it lacks tools for Model-Based Engineering (MBE) during the development stage, and ROS lacks tools for easily documenting the interfaces and deployed components other than specific configuration and launch files themselves. This paper presents a software tool chain - dubbed CHRIS ROS Modeling - that enables users to document an existing ROS deployment. The information is stored as instances of a simplified metamodel in portable formats. The resulting information serves to document an existing system and will serve as the foundation for future work to develop an integrated MBE system. This paper compares our approach to similar approaches currently in development.

关键词： Visualization System testing Computational modeling Documentation Tools US Department of Transportation Portable document format

来源：评论

学校读者我要写书评

暂无评论

Design and Development of the FlexBE WebUI with Introductory Tutorials

Journal of Computing Sciences in Colleges

引用

Journal of Computing Sciences in Colleges 2024年第3期40卷

作者： Samuel Raymond Grace Walters Josh Luzier David C. Conner Capable Humanitarian Robotics and Intelligent Systems Lab Department of Physics Computer Science and Engineering Christopher Newport University Newport News VA

Hierarchical Finite State Machines (HFSMs) continue to be a popular strategy for high-level behavioral control in robotics. Within the Robot Operating System (ROS) ecosystem, the Flexible Behavior Engine (FlexBE) provides an easy to use Python implementation with an intuitive user interface for runtime monitoring and "collaborative autonomy." In this paper, we describe the latest evolution of the FlexBE UI, that leverages FastAPI to provide a Python-based native ROS node interface, to a web-based user interface. Additionally, the paper describes a "quick-start" introductory tutorial to state machines using FlexBE. This system provides a natural introduction to HFSM-based techniques.

关键词：

来源：评论

学校读者我要写书评

暂无评论

Reactive High-level Behavior Synthesis for an Atlas Humanoid Robot

Reactive High-level Behavior Synthesis for an Atlas Humanoid...

引用

IEEE International Conference on robotics and Automation

作者： Spyros Maniatopoulos Philipp Schillinger Vitchyr Pong David C. Conner Hadas Kress-Gazit Verifiable Robotics Research Group Sibley School of Mechanical and Aerospace Engineering Cornell University Ithaca NY 14853 USA Robert Bosch GmbH Corporate Research Department for Cognitive Systems 70442 Stuttgart Germany Capable Humanitarian Robotics & Intelligent Systems Lab Department of Physics Computer Science and Engineering Christopher Newport University Newport News VA 23606 USA

ISBN: (纸本)9781467380270

In this work, we take a step towards bridging the gap between the theory of formal synthesis and its application to real-world, complex, robotic systems. In particular, we present an end-to-end approach for the automatic generation of code that implements high-level robot behaviors in a verifiably correct manner, including reaction to the possible failures of low-level actions. We start with a description of the system defined a priori. Thus, a non-expert user need only specify a high-level task. We automatically construct a formal specification, in a fragment of Linear Temporal Logic (LTL), that encodes the system's capabilities and constraints, the task, and the desired reaction to low-level failures. We then synthesize a reactive mission plan that is guaranteed to satisfy the formal specification, i.e., achieve the task's goals or correctly react to failures. Lastly, we automatically generate a state machine that instantiates the synthesized symbolic plan in software. We showcase our approach using Team ViGIR's software and Atlas humanoid robot and present lab experiments, thus demonstrating the application of formal synthesis techniques to complex robotic systems. The proposed approach has been implemented and open-sourced as a collection of Robot Operating System (ROS) packages, which are adaptable to other systems.

关键词： Atlas Humanoid Robot formal synthesis ROS

来源：评论

学校读者我要写书评

暂无评论

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案：

请选择收藏分类：

通借通还

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：