Testing, Verification and Improvements of Timeliness in ROS processes

Autor:	Hazim, Mohammed Y., Qu, Hongyang, Veres, Sandor M.
Rok vydání:	2016
Předmět:	Computer Science - Robotics
Zdroj:	TAROS Conference, Volume 9716 of the series Lecture Notes in Computer Science pp 146-157, 2016
Druh dokumentu:	Working Paper
Popis:	This paper addresses the problem of improving response times of robots implemented in the Robotic Operating System (ROS) using formal verification of computational-time feasibility. In order to verify the real time behaviour of a robot under uncertain signal processing times, methods of formal verification of timeliness properties are proposed for data flows in a ROS-based control system using Probabilistic Timed Programs (PTPs). To calculate the probability of success under certain time limits, and to demonstrate the strength of our approach, a case study is implemented for a robotic agent in terms of operational times verification using the PRISM model checker, which points to possible enhancements to the operation of the robotic agent. Comment: 13 pages, 4 figures
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/1611.03355 Zobrazit plný text záznamu View this record from Arxiv