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Reliable Control Architecture with PLEXIL and ROS for Autonomous Wheeled Robots

dc.contributor.authorCadavid, Héctor
dc.contributor.authorPérez, Alexander
dc.contributor.authorRocha, Camilo
dc.date.accessioned2021-05-24T22:47:01Z
dc.date.accessioned2021-10-01T17:22:44Z
dc.date.available2021-05-24
dc.date.available2021-10-01T17:22:44Z
dc.date.issued2017
dc.identifier.isbn978-3-319-66561-0
dc.identifier.isbn978-3-319-66562-7
dc.identifier.urihttps://repositorio.escuelaing.edu.co/handle/001/1478
dc.description.abstractToday’s autonomous robots are being used for complex tasks, including space exploration, military applications, and precision agriculture. As the complexity of control architectures increases, reliability of autonomous robots becomes more challenging to guarantee. This paper presents a hybrid control architecture, based on the Plan Execution Interchange Language ( PLEXIL ), for autonomy of wheeled robots running the Robot Operating System ( ROS ). PLEXIL is a synchronous reactive language developed by NASA for mission critical robotic systems, while ROS is one of the most popular frameworks for robotic middle-ware development. Given the safety-critical nature of spacecraft operations, PLEXIL operational semantics has been mathematically defined, and formal techniques and tools have been developed to automatically analyze plans written in this language. The hybrid control architecture proposed in this paper is showcased in a path tracking scenario using the Husky robot platform via a Gazebo simulation. Thanks to the architecture presented in this paper, all formal analysis techniques and tools currently available to PLEXIL are now available to build reliable plans for ROS -enabled wheeled robots.spa
dc.description.abstractLos robots autónomos de hoy se utilizan para tareas complejas, incluida la exploración espacial, aplicaciones militares y agricultura de precisión. A medida que aumenta la complejidad de las arquitecturas de control, la fiabilidad de los robots autónomos se vuelve más difícil de garantizar. Este artículo presenta una arquitectura de control híbrida, basada en el lenguaje de intercambio de ejecución de planes (PLEXIL), para la autonomía de los robots con ruedas que ejecutan el sistema operativo de robots (ROS). PLEXIL es un lenguaje reactivo sincrónico desarrollado por la NASA para sistemas robóticos de misión crítica, mientras que ROS es uno de los marcos más populares para el desarrollo de middleware robótico. Dada la naturaleza crítica para la seguridad de las operaciones de las naves espaciales, la semántica operativa de PLEXIL se ha definido matemáticamente y se han desarrollado técnicas y herramientas formales para analizar automáticamente los planes escritos en este lenguaje. La arquitectura de control híbrida propuesta en este documento se muestra en un escenario de seguimiento de ruta utilizando la plataforma de robot Husky a través de una simulación de Gazebo. Gracias a la arquitectura presentada en este documento, todas las técnicas y herramientas de análisis formales actualmente disponibles para PLEXIL están ahora disponibles para construir planes confiables para robots con ruedas habilitados para ROS.spa
dc.format.extent16 páginasspa
dc.format.mimetypeapplication/pdfspa
dc.language.isoengspa
dc.publisherSpringer Naturespa
dc.relation.ispartofseriesCommunications in Computer and Information Science book series (CCIS, volume 735);
dc.rights.urihttps://creativecommons.org/licenses/by/4.0/spa
dc.sourcehttps://link.springer.com/chapter/10.1007%2F978-3-319-66562-7_44spa
dc.titleReliable Control Architecture with PLEXIL and ROS for Autonomous Wheeled Robotsspa
dc.typeCapítulo - Parte de Librospa
dc.type.versioninfo:eu-repo/semantics/publishedVersionspa
oaire.accessrightshttp://purl.org/coar/access_right/c_14cbspa
oaire.versionhttp://purl.org/coar/version/c_970fb48d4fbd8a85spa
dc.contributor.researchgroupCTG-Informáticaspa
dc.contributor.researchgroupEcitrónicaspa
dc.identifier.doidoi.org/10.1007/978-3-319-66562-7_44
dc.identifier.urlhttps://link.springer.com/chapter/10.1007/978-3-319-66562-7_44
dc.publisher.placeSuizaspa
dc.relation.citationeditionCCC 2017spa
dc.relation.citationendpage626spa
dc.relation.citationstartpage611spa
dc.relation.indexedN/Aspa
dc.relation.ispartofbookAdvances in Computingspa
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dc.rights.accessrightsinfo:eu-repo/semantics/closedAccessspa
dc.rights.creativecommonsAtribución 4.0 Internacional (CC BY 4.0)spa
dc.subject.armarcAutomatizaciónspa
dc.subject.armarcRobóticaspa
dc.subject.armarcSistema operativo de robotsspa
dc.subject.armarcRobots - Sistemas de controlspa
dc.subject.proposalRobot autonomyspa
dc.subject.proposalPlan Execution Interchange Language ( PLEXIL )spa
dc.subject.proposalRobot Operating System ( ROS )spa
dc.subject.proposalControl architecturesspa
dc.subject.proposalFormal verificationspa
dc.subject.proposalRewriting logicspa
dc.subject.proposalAutomatic reachability analysisspa
dc.type.coarhttp://purl.org/coar/resource_type/c_3248spa
dc.type.contentTextspa
dc.type.driverinfo:eu-repo/semantics/bookPartspa
dc.type.redcolhttps://purl.org/redcol/resource_type/CAP_LIBspa


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