Modelling and analysis of a redundant mobile robot architecture using aadl

被引：8

作者：

Biggs, Geoffrey ^{[1
]}

Fujiwara, Kiyoshi ^{[1
]}

Anada, Keiju ^{[2
]}

机构：

[1] Intelligent Systems Research Institute National Institute of Advanced Industrial Science and Technology (AIST) AIST Tsukuba Central 2, Tsukuba,Ibaraki,305-8568, Japan

[2] aRbot Inc., Japan

来源：

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) | 2014年 / 8810卷

关键词：

Safety engineering - Formal languages - Mobile robots;

D O I：

10.1007/978-3-319-11900-7_13

中图分类号：

学科分类号：

摘要：

As the complexity of robots deployed in the real world increases, the use of formal specifications in the development of safety-critical robot systems is becoming increasingly important. A formal specification gives confidence in the correctness, completeness, and accuracy of a system design. In this paper, we present a formal specification of a redundant control architecture for a mobile robot in the form of a model. The model is created using the Architecture Analysis and Design Language (AADL). This formal language allows the model to be analysed to prove system properties of interest. In this case, we are interested in proving the response time of the robot to external obstacles and to internal errors. We present the model and the results of these analyses with the goal of proving that the architecture is sufficiently safe for use in a safe robot wheelchair. © Springer International Publishing Switzerland 2014.

引用

页码：146 / 157