TY - GEN
T1 - Multi-paradigm modeling for early analysis of ROS-based robotic applications using a library of AADL models
AU - Senn, Eric
AU - Bourdon, Lucie W.J.
AU - Blouin, Dominique
N1 - Publisher Copyright:
© 2022 ACM.
PY - 2022/10/23
Y1 - 2022/10/23
N2 - ROS, the Robot Operating System, is a middleware that eases the programming of robotic applications significantly, bringing standard communication and synchronization mechanisms to a wide variety of operating systems and computers or embedded computer boards. However, a robotic application is a complex set of many services, with many relations between them, and multiple choices have to be made regarding the software and the hardware architectures. To rely on a formal representation of those two, from which early analysis can be performed, is extremely beneficial since it allows detection of design errors early in the process. This is what we present in this paper. Our approach is based on the Architecture Analysis and Design Language (AADL) and on a set of AADL models to represent both the application and the robot, including its embedded computers and its many devices. Those models are gathered into an open source AADL library from which ROS developers can largely benefit.
AB - ROS, the Robot Operating System, is a middleware that eases the programming of robotic applications significantly, bringing standard communication and synchronization mechanisms to a wide variety of operating systems and computers or embedded computer boards. However, a robotic application is a complex set of many services, with many relations between them, and multiple choices have to be made regarding the software and the hardware architectures. To rely on a formal representation of those two, from which early analysis can be performed, is extremely beneficial since it allows detection of design errors early in the process. This is what we present in this paper. Our approach is based on the Architecture Analysis and Design Language (AADL) and on a set of AADL models to represent both the application and the robot, including its embedded computers and its many devices. Those models are gathered into an open source AADL library from which ROS developers can largely benefit.
KW - AADL
KW - ROS
UR - https://www.scopus.com/pages/publications/85142936624
U2 - 10.1145/3550356.3563129
DO - 10.1145/3550356.3563129
M3 - Conference contribution
AN - SCOPUS:85142936624
T3 - Proceedings - ACM/IEEE 25th International Conference on Model Driven Engineering Languages and Systems, MODELS 2022: Companion Proceedings
SP - 677
EP - 683
BT - Proceedings - ACM/IEEE 25th International Conference on Model Driven Engineering Languages and Systems, MODELS 2022
PB - Association for Computing Machinery, Inc
T2 - 25th ACM/IEEE International Conference on Model Driven Engineering Languages and Systems, MODELS 2022
Y2 - 23 October 2022 through 28 October 2022
ER -