mdh.sePublications
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
ROBOREBECA: A NEWFRAMEWORK TO DESIGN VERIFIED ROS-BASED ROBOTIC PROGRAMS
Mälardalen University, School of Innovation, Design and Engineering. University of Tehran, Iran. (Software Engineering)
2019 (English)Independent thesis Advanced level (degree of Master (One Year)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

Robotic technology helps humans in different areas such as manufacturing, health care and educa-tion. Due to the ubiquitous revolution, today’s focus is on mobile robots and their applications in avariety of cyber-physical systems. There are several powerful robot middlewares, such as ROS andYARP to manage the complexity of robotic software implementation. However, they do not providesupport for assuring important properties such as timeliness and safety. We believe that integratingmodel checking with a robot middleware helps developers design and implement high quality roboticsoftware. By defining a general conceptual model for robotic programs, in this thesis we present anintegration of Timed Rebeca modeling language (and its model checker) with ROS to automaticallysynthesize verified ROS-based robotic software. For this integration, first the conceptual model ismapped to a Timed Rebeca model which is used to verify the desired properties on the model. The Timed Rebeca model may be modified several times until the properties are satisfied. Finally, theverified Timed Rebeca model is translated to a ROS program based on a set of mapping rules. Conducting experiments on some small-scale case studies indicate the usefulness and applicability ofthe proposed integration method

Place, publisher, year, edition, pages
2019. , p. 46
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:mdh:diva-44702OAI: oai:DiVA.org:mdh-44702DiVA, id: diva2:1332463
Presentation
2019-06-10, Vasteras, Sweden, 10:21 (English)
Supervisors
Examiners
Available from: 2019-09-18 Created: 2019-06-28 Last updated: 2019-09-18Bibliographically approved

Open Access in DiVA

fulltext(4828 kB)16 downloads
File information
File name FULLTEXT01.pdfFile size 4828 kBChecksum SHA-512
f8c3e1f3b636932bc61f0f7854f7c3ad350b56ed6a105cefffeb0538ea26be03a5016a7024565f58e5944afa5c4b1d3ff13174466114c5cda5fdead4b907a481
Type fulltextMimetype application/pdf

By organisation
School of Innovation, Design and Engineering
Engineering and Technology

Search outside of DiVA

GoogleGoogle Scholar
Total: 16 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 15 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf