Skill-based design of dependable robotic architectures

被引:10
作者
Albore, Alexandre [1 ]
Doose, David [1 ]
Grand, Christophe [1 ]
Guiochet, Jeremie [2 ]
Lesire, Charles [1 ]
Manecy, Augustin [1 ]
机构
[1] Univ Toulouse, ONERA, DTIS, Toulouse, France
[2] Univ Toulouse, CNRS, LAAS, Toulouse, France
关键词
Skill-based architecture; Dependability; Development process; Model-checking; Fault-Tree Analysis; BEHAVIOR TREES; INSTRUCTION; SYSTEMS;
D O I
10.1016/j.robot.2022.104318
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
Software architectures for autonomous systems are generally structured with 3 layers: a decisional layer managing autonomous reasoning, a functional layer managing reactive tasks and processing, and an executive layer bridging the gap between both. The executive layer plays a central role, as it links high-level tasks with low-level processing, and is generally responsible for the robustness or the fault-tolerance of the overall system. In this paper, we propose a development process for such an executive layer that emphasizes on the dependability of this layer. To do so, we structure the executive layer using skills, that are formally defined using a specific language, and we then provide some tools to verify these models, generate some code, and a methodology to assess the fault-tolerance of the resulting architecture.
引用
收藏
页数:21
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