Abstract
As the field of automation and robotics develops, control software driving the robotic systems becomes more and more complex. Currently, a predominant approach to modularization and structuring of software in the robotics community, which is embodied by ROS (Robot Operating System) and similar frameworks, is to decompose software into a set of functional modules (i.e. nodes, processes, classes). Particular modules comprising the system are chosen manually by the programmer and they exchange data using loosely coupled publish/subscribe communication mechanisms. While such an approach is helpful and currently highly developed, it seems to lack the means of verifying correctness of the whole control software system (i.e. is there a source of data for all input signals of a given module?, are its outputs actually used by other modules in the system?). Manual specification of system structure and verification of its correctness can be tedious and prone to errors. To help alleviate this, we propose a system composition algorithm utilizing graph search methods. It processes a set of modules implemented by the programmer and produces a graph of modules representing the system with input and output signals specified by the programmer. Such an algorithm can be used with nearly arbitrary control software frameworks.
This work was partially supported by Poznan University of Technology under the grant 33/32/SIGR/0003 and National Science Centre (NCN) under the grant No.2014/15/B/ST7/00429.
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Gawron, T., Kozłowski, K. (2020). Semi-automated Synthesis of Control System Software Through Graph Search. In: Bartoszewicz, A., Kabziński, J., Kacprzyk, J. (eds) Advanced, Contemporary Control. Advances in Intelligent Systems and Computing, vol 1196. Springer, Cham. https://doi.org/10.1007/978-3-030-50936-1_91
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DOI: https://doi.org/10.1007/978-3-030-50936-1_91
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