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Reliable Control Architecture with PLEXIL and ROS for Autonomous Wheeled Robots

dc.contributor.authorPérez, Alexander
dc.contributor.authorCadavid, Héctor
dc.contributor.authorRocha, Camilo
dc.date.accessioned2021-05-26T15:36:51Z
dc.date.accessioned2021-10-01T17:19:07Z
dc.date.available2021-05-26T15:36:51Z
dc.date.available2021-10-01T17:19:07Z
dc.date.issued2017
dc.identifier.isbn978-3-319-66561-0 (Impreso)
dc.identifier.isbn978-3-319-66562-7 (Online)
dc.identifier.urihttps://repositorio.escuelaing.edu.co/handle/001/1493
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.eng
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 del robot ( 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, PLEXIL Se ha definido matemáticamente la semántica operativa 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 artículo, todas las técnicas y herramientas de análisis formales disponibles actualmente para PLEXIL ahora están disponibles para construir planes confiables para ROS -Robots con ruedas habilitados.spa
dc.format.extent16 páginasspa
dc.format.mimetypeapplication/pdfspa
dc.language.isoengspa
dc.publisherSpringer Naturespa
dc.relation.ispartofseriesAdvances in Computing;735
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 Robotseng
dc.title.alternativeArquitectura de control confiable con PLEXIL y ROS para robots con ruedas autónomosspa
dc.typeCapítulo - Parte de Librospa
dc.description.notes1.Escuela Colombiana de Ingeniería Julio Garavito Bogotá, Colombia. 2.Pontificia Universidad Javeriana Santiago de Cali, Colombia.spa
dc.type.versioninfo:eu-repo/semantics/publishedVersionspa
oaire.accessrightshttp://purl.org/coar/access_right/c_16ecspa
oaire.versionhttp://purl.org/coar/version/c_970fb48d4fbd8a85spa
dc.contributor.researchgroupEcitrónicaspa
dc.identifier.doi10.1007/978-3-319-66562-7_44
dc.identifier.urlhttps://doi.org/10.1007/978-3-319-66562-7_44
dc.publisher.placeColombiaspa
dc.relation.citationendpage626spa
dc.relation.citationstartpage611spa
dc.relation.indexedN/Aspa
dc.relation.ispartofbookCommunications in Computer and Information Sciencespa
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dc.rights.accessrightsinfo:eu-repo/semantics/closedAccessspa
dc.subject.armarcRobots móvilesspa
dc.subject.armarcMobile robotseng
dc.subject.armarcRobóticaspa
dc.subject.armarcRoboticseng
dc.subject.armarcRobots - Sistemas de controlspa
dc.subject.armarcRobots - Control systemseng
dc.subject.proposalRobot autonomyeng
dc.subject.proposalPlan Execution Interchange Language (PLEXIL)eng
dc.subject.proposalRobot Operating System (ROS)eng
dc.subject.proposalControl architectureseng
dc.subject.proposalFormal verificationeng
dc.subject.proposalRewriting logiceng
dc.subject.proposalAutomatic reachability analysiseng
dc.type.coarhttp://purl.org/coar/resource_type/c_3248spa
dc.type.contentTextspa
dc.type.driverinfo:eu-repo/semantics/conferenceObjectspa
dc.type.redcolhttp://purl.org/redcol/resource_type/ARTspa


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