Measurement-based real-time analysis of robotic software architectures
Nicolas Gobillot, Fabrice Guet, David Doose, Christophe Grand, Charles Lesire, Luca Santinelli
Abstract
Providing guarantees on the system behavior is mandatory in order to let the robots enter our every-day life. Among these guarantees, proving the fulfillment of real-time constraints on the software is a key issue, as their violation could result into unexpected and unsafe behaviors. In this paper, we present a methodology to guarantee real-time constraints on component-based software architectures of robots. This methodology relies on the MAUVE language to model the component architecture, and on a set of analysis tools that first estimate the worst case execution time of elementary functions from actual component traces, and then check the real-time constraints of each component. We illustrate this process on the architecture developed for the autonomous navigation of a partially known area by a mobile robot.
BibTeX
@inproceedings{iros2016_measurementbased,
title = {Measurement-based real-time analysis of robotic software architectures},
author = {Nicolas Gobillot and Fabrice Guet and David Doose and Christophe Grand and Charles Lesire and Luca Santinelli},
booktitle = {IROS 2016},
year = {2016}
}