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Metrics of Sensory Motor Coordination and Integration in Robots and Animals pp 15–37Cite as

Formal Specification of Robotic Architectures for Experimental Robotics

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Part of the book series: Cognitive Systems Monographs ((COSMOS,volume 36))

Abstract

Robotic systems are becoming more safety critical systems as they are deployed in unstructured human-centered environments. These software intensive systems are composed of distributed, heterogeneous software components interacting in a highly dynamic, uncertain environment. However, no systematic software development process is followed in robotics research. This is a real barrier for system level performance analysis and reasoning, which are in turn required for scalable bench-marking methods and reusing existing software. This chapter provides an end-to-end overview on how robotic software systems can be formally specified from requirement modeling, through solution space exploration, and architecture modeling, and finally to generate executable code. The process is based on SafeRobots framework—a model-driven toolchain for designing software for robotics. Several domain-specific modeling languages that are developed as a part of this integrated approach are also discussed.

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Acknowledgements

This research is funded by VeDeCoM Institute, a French automotive cluster on mobility research.

Author information

Authors and Affiliations

  1. Department of Computer and System Engineering, ENSTA-ParisTech, 828 Blvd Marechaux, Palaiseau, France

    Arunkumar Ramaswamy, Bruno Monsuez & Adriana Tapus

  2. VeDeCom Institute, 77 rue des Chantiers, Versailles, France

    Arunkumar Ramaswamy

Authors
  1. Arunkumar Ramaswamy
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  2. Bruno Monsuez
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  3. Adriana Tapus
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Corresponding author

Correspondence to Arunkumar Ramaswamy .

Editor information

Editors and Affiliations

  1. Institute of Biorobotics, Scuola Superiore Sant’Anna, Pisa, Italy

    Fabio Bonsignorio

  2. Intelligent Systems Division, Manipulation and Mobility Systems Group, National Institute of Standards and Technology, Gaithersburg, MD, USA

    Elena Messina

  3. Robotic Intelligence Laboratory, Department of Computer Science and Engineering, Universidad Jaume I, Castellón de la Plana, Spain

    Angel P. del Pobil

  4. Mærsk Mc-Kinney Møller Institute, University of Southern Denmark, Odense, Denmark

    John Hallam

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Ramaswamy, A., Monsuez, B., Tapus, A. (2020). Formal Specification of Robotic Architectures for Experimental Robotics. In: Bonsignorio, F., Messina, E., del Pobil, A., Hallam, J. (eds) Metrics of Sensory Motor Coordination and Integration in Robots and Animals. Cognitive Systems Monographs, vol 36. Springer, Cham. https://doi.org/10.1007/978-3-030-14126-4_2

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