Abstract
The use of robots is gaining considerable traction in several domains, since they are capable of assisting and replacing humans for everyday tasks. To harvest the full potential of robots, it must be possible to define missions for robots that are domain-specific, resilient, and collaborative. Currently, robot vendors provide low-level APIs to program such missions, making mission definition a task-specific and error-prone activity. There is a need for quick definition of new missions, by users that lack programming expertise, such as farmers and emergency workers. In this paper, we extend the existing FLYAQ platform to support the high-level specification of adaptive and highly-resilient missions. We present an extensible specification language that allows users to declaratively specify domain-specific constraints as properties of missions, thus complementing the existing FLYAQ mission language. This permits to move at runtime, the actual generation of low-level operations to satisfy the declaratively specified mission. We show how this specification language can be automatically generated from a domain-specific FLYAQ mission language by using the generative ProMoBox approach. Next, we show how mission goals are achieved taking mission properties into account, and how missions may change due to unexpected circumstances.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
Notes
- 1.
- 2.
An implementation of this grammar can be found at http://msdl.cs.mcgill.ca/people/bart/flyaq/flyaq.html.
References
Autili, M., Grunske, L., Lumpe, M., Pelliccione, P., Tang, A.: Aligning qualitative, real-time, and probabilistic property specification patterns using a structured english grammar. IEEE Trans. Softw. Eng. 41(7), 620–638 (2015). http://dx.doi.org/10.1109/TSE.2015.2398877
Bozhinoski, D., Bucchiarone, A., Malavolta, I., Marconi, A., Pelliccione, P.: Leveraging collective run-time adaptation for UAV-based systems. In: 2016 42nd Euromicro Conference on Software Engineering and Advanced Applications (SEAA), pp. 214–221 (2016). http://ieeexplore.ieee.org/document/7592799/
Bozhinoski, D., Di Ruscio, D., Malavolta, I., Pelliccione, P., Tivoli, M.: FLYAQ: enabling non-expert users to specify and generate missions of autonomous multicopters. In: Proceedings - 2015 30th IEEE/ACM International Conference on Automated Software Engineering, ASE 2015, pp. 801–806 (2015)
Ciccozzi, F., Di Ruscio, D., Malavolta, I., Pelliccione, P.: Adopting MDE for specifying and executing civilian missions of mobile multi-robot systems. IEEE Access 3536(c), 1 (2016). http://ieeexplore.ieee.org/document/7576686/
Cohen, D., Feather, M.S., Narayanaswamy, K., Fickas, S.: Automatic monitoring of software requirements. In: Adrion, W.R., Fuggetta, A., Taylor, R.N., Wasserman, A.I. (eds.) Pulling Together, Proceedings of the 19th International Conference on Software Engineering, Boston, Massachusetts, USA, 17–23 May 1997, pp. 602–603. ACM (1997). http://doi.acm.org/10.1145/253228.253493
Di Ruscio, D., Malavolta, I., Pelliccione, P.: A family of domain-specific languages for specifying civilian missions of multi-robot systems. In: CEUR Workshop Proceedings, vol. 1319, pp. 16–29 (2014)
Di Ruscio, D., Malavolta, I., Pelliccione, P., Tivoli, M.: Automatic generation of detailed flight plans from high-level mission descriptions. In: Proceedings of the ACM/IEEE 19th International Conference on Model Driven Engineering Languages and Systems - MODELS 2016, pp. 45–55. ACM Press, New York (2016). http://dl.acm.org/citation.cfm?doid=2976767.2976794
Dwyer, M.B., Avrunin, G.S., Corbett, J.C.: Patterns in property specifications for finite-state verification. In: Boehm, B.W., Garlan, D., Kramer, J. (eds.) Proceedings of the 1999 International Conference on Software Engineering, ICSE 1999, Los Angeles, CA, USA, 16–22 May 1999, pp. 411–420. ACM (1999). http://portal.acm.org/citation.cfm?id=302405.302672
Eysholdt, M., Behrens, H.: Xtext: implement your language faster than the quick and dirty way. In: Cook, W.R., Clarke, S., Rinard, M.C. (eds.) Companion to the 25th Annual ACM SIGPLAN Conference on Object-Oriented Programming, Systems, Languages, and Applications, SPLASH/OOPSLA 17–21, 2010, Reno/Tahoe, Nevada, USA, pp. 307–309. ACM (2010). http://doi.acm.org/10.1145/1869542.1869625
Filieri, A., Tamburrelli, G., Ghezzi, C.: Supporting self-adaptation via quantitative verification and sensitivity analysis at run time. IEEE Trans. Softw. Eng. 42(1), 75–99 (2016)
Franco, J.M., Correia, F., Barbosa, R., Zenha-Rela, M., Schmerl, B., Garlan, D.: Improving self-adaptation planning through software architecture-based stochastic modeling. J. Syst. Softw. 115, 42–60 (2016). http://www.sciencedirect.com/science/article/pii/S0164121216000212
Gherardi, L., Hochgeschwender, N.: RRA: Models and tools for robotics run-time adaptation. In: IEEE International Conference on Intelligent Robots and Systems 2015, pp. 1777–1784, December 2015
Götz, S., Leuthäuser, M., Reimann, J., Schroeter, J., Wende, C., Wilke, C., Aßmann, U.: A role-based language for collaborative robot applications. In: Hähnle, R., Knoop, J., Margaria, T., Schreiner, D., Steffen, B. (eds.) ISoLA 2011. CCIS, pp. 1–15. Springer, Heidelberg (2012). doi:10.1007/978-3-642-34781-8_1
Gray, J., Neema, S., Tolvanen, J., Gokhale, A.S., Kelly, S., Sprinkle, J.: Domain-specific modeling. In: Fishwick, P.A. (ed.) Handbook of Dynamic System Modeling. Chapman and Hall/CRC (2007). http://dx.doi.org/10.1201/9781420010855.pt2
Kim, Y., Jung, J.W., Gallagher, J.C., Matson, E.T.: An adaptive goal-based model for autonomous multi-robot using HARMS and NuSMV. Int. J. Fuzzy Logic Intell. Syst. 16(2), 95–103 (2016). http://www.ijfis.org/journal/view.html?doi=10.5391/IJFIS.2016.16.2.95
Kühne, T., Mezei, G., Syriani, E., Vangheluwe, H., Wimmer, M.: Explicit transformation modeling. In: Ghosh, S. (ed.) MODELS 2009. LNCS, vol. 6002, pp. 240–255. Springer, Heidelberg (2010). doi:10.1007/978-3-642-12261-3_23
Meyers, B., Denil, J., Dávid, I., Vangheluwe, H.: Automated testing support for reactive domain-specific modelling languages. In: Proceedings of the 2016 ACM SIGPLAN International Conference on Software Language Engineering - SLE 2016, pp. 181–194. ACM Press, New York (2016). http://dl.acm.org/citation.cfm?doid=2997364.2997367
Meyers, B., Deshayes, R., Lucio, L., Syriani, E., Vangheluwe, H., Wimmer, M.: ProMoBox: a framework for generating domain-specific property languages. In: Combemale, B., Pearce, D.J., Barais, O., Vinju, J.J. (eds.) SLE 2014. LNCS, vol. 8706, pp. 1–20. Springer, Cham (2014). doi:10.1007/978-3-319-11245-9_1
Schätz, B.: Formalization and rule-based transformation of EMF ecore-based models. In: Gašević, D., Lämmel, R., Wyk, E. (eds.) SLE 2008. LNCS, vol. 5452, pp. 227–244. Springer, Heidelberg (2009). doi:10.1007/978-3-642-00434-6_15
Shevtsov, S., Weyns, D.: Keep it simplex: Satisfying multiple goals with guarantees in control-based self-adaptive systems. In: Proceedings of the 2016 24th ACM SIGSOFT International Symposium on Foundations of Software Engineering, FSE 2016, pp. 229–241. ACM, New York (2016). http://doi.acm.org/10.1145/2950290.2950301
SPARC: Robotics 2020 Multi-Annual Roadmap. 2016, 325 (2015)
Steck, A., Lotz, A., Schlegel, C.: Model-driven engineering and run-time model-usage in service robotics. In: Proceedings of the 10th ACM International Conference on Generative Programming and Component Engineering - GPCE 2011, p. 73 (2011). http://dl.acm.org/citation.cfm?doid=2047862.2047875
Ulam, P., Endo, Y., Wagner, A., Arkin, R.: Integrated mission specification and task allocation for robot teams - Design and implementation. In: Proceedings - IEEE International Conference on Robotics and Automation, pp. 4428–4435 (2007)
Zhong, C., DeLoach, S.A.: Runtime models for automatic reorganization of multi-robot systems. In: Proceeding of the 6th International Symposium on Software Engineering for Adaptive and Self-Managing Systems - SEAMS 2011, p. 20. ACM, New York (2011). http://portal.acm.org/citation.cfm?doid=1988008.1988012
Acknowledgement
This research is partially supported by Flanders Make vzw. This research is also partially funded by the COST action IC1404 “MPM4CPS”. This work has been carried out within the framework of the MBSE4Mechatronics project (grant nr.130013) of the agency for Innovation by Science and Technology in Flanders (IWT-Vlaanderen). More support for this work was from the SIDA Bright 317 project. Finally, this work is partially supported from the EU H2020 Research and Innovation Programme under GA No. 731869 (Co4Robots).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
Dragule, S., Meyers, B., Pelliccione, P. (2017). A Generated Property Specification Language for Resilient Multirobot Missions. In: Romanovsky, A., Troubitsyna, E. (eds) Software Engineering for Resilient Systems. SERENE 2017. Lecture Notes in Computer Science(), vol 10479. Springer, Cham. https://doi.org/10.1007/978-3-319-65948-0_4
Download citation
DOI: https://doi.org/10.1007/978-3-319-65948-0_4
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-65947-3
Online ISBN: 978-3-319-65948-0
eBook Packages: Computer ScienceComputer Science (R0)