PROMISE: High-Level Mission Specification for Multiple Robots

Service robots, a type of robots that perform useful tasks for humans, are foreseen to be broadly used in the near future in both social and industrial scenarios. Those robots will be required to operate in dynamic environments, collaborating among them or with users. Specifying the list of requeste...

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Vydané v:Proceedings - International Conference on Software Engineering s. 5 - 8
Hlavní autori: Garcia, Sergio, Pelliccione, Patrizio, Menghi, Claudio, Berger, Thorsten, Bures, Tomas
Médium: Konferenčný príspevok..
Jazyk:English
Vydavateľské údaje: ACM 01.10.2020
Predmet:
Domain experts
domain specific language
Domain specific languages
DSL
Dynamic environments
Graphical interface
Industrial scenarios
mission specification
Multi robot
Multiple robot
Programvaruteknik
Recovery actions
Robotics and automation
Robotik och automation
Robots
Service robots
Software
Software Engineering
Syntactics
Task analysis
ISBN:1450371221, 9781450371223
ISSN:0270-5257
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Popis
Shrnutí:Service robots, a type of robots that perform useful tasks for humans, are foreseen to be broadly used in the near future in both social and industrial scenarios. Those robots will be required to operate in dynamic environments, collaborating among them or with users. Specifying the list of requested tasks to be achieved by a robotic team is far from being trivial. Therefore, mission specification languages and tools need to be expressive enough to allow the specification of complex missions (e.g., detailing recovery actions), while being reachable by domain experts who might not be knowledgeable of programming languages. To support domain experts, we developed PROMISE, a Domain-Specific Language that allows mission specification for multiple robots in a user-friendly, yet rigorous manner. PROMISE is built as an Eclipse plugin that provides a textual and a graphical interface for mission specification. Our tool is in turn integrated into a software framework, which provides functionalities as: (1) automatic generation from specification, (2) sending of missions to the robotic team; and (3) interpretation and management of missions during execution time. PROMISE and its framework implementation have been validated through simulation and real-world experiments with four different robotic models.Video: https://youtu.be/RMtqwY2GOlQ
ISBN:1450371221
9781450371223
ISSN:0270-5257
DOI:10.1145/3377812.3382143