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Verified ROS-Based Deployment of Platform-Independent Control Systems

  • Wenrui MengEmail author
  • Junkil Park
  • Oleg Sokolsky
  • Stephanie Weirich
  • Insup Lee
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9058)

Abstract

The paper considers the problem of model-based deployment of platform-independent control code on a specific platform. The approach is based on automatic generation of platform-specific glue code from an architectural model of the system. We present a tool, ROSGen, that generates the glue code based on a declarative specification of platform interfaces. Our implementation targets the popular Robot Operating System (ROS) platform. We demonstrate that the code generation process is amenable to formal verification. The code generator is implemented in Coq and relies on the infrastructure provided by the CompCert and VST tool. We prove that the generated code always correctly connects the controller function to sensors and actuators in the robot. We use ROSGen to implement a cruise control system on the LandShark robot.

Keywords

Global Variable Architectural Model Separation Logic Unmanned Ground Vehicle Controller Function 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  • Wenrui Meng
    • 1
    Email author
  • Junkil Park
    • 1
  • Oleg Sokolsky
    • 1
  • Stephanie Weirich
    • 1
  • Insup Lee
    • 1
  1. 1.University of PennsylvaniaPhiladelphiaUSA

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