Reliable Control Architecture with PLEXIL and ROS for Autonomous Wheeled Robots

  • Héctor Cadavid
  • Alexander Pérez
  • Camilo RochaEmail author
Conference paper
Part of the Communications in Computer and Information Science book series (CCIS, volume 735)


Today’s autonomous robots are being used for complex tasks, including space exploration, military applications, and precision agriculture. As the complexity of control architectures increases, reliability of autonomous robots becomes more challenging to guarantee. This paper presents a hybrid control architecture, based on the Plan Execution Interchange Language (\(\text {PLEXIL}\)), for autonomy of wheeled robots running the Robot Operating System (\(\text {ROS}\)). \(\text {PLEXIL}\) is a synchronous reactive language developed by NASA for mission critical robotic systems, while \(\text {ROS}\) is one of the most popular frameworks for robotic middle-ware development. Given the safety-critical nature of spacecraft operations, \(\text {PLEXIL}\) operational semantics has been mathematically defined, and formal techniques and tools have been developed to automatically analyze plans written in this language. The hybrid control architecture proposed in this paper is showcased in a path tracking scenario using the Husky robot platform via a Gazebo simulation. Thanks to the architecture presented in this paper, all formal analysis techniques and tools currently available to \(\text {PLEXIL}\) are now available to build reliable plans for \(\text {ROS}\)-enabled wheeled robots.


Robot autonomy Plan Execution Interchange Language (\(\text {PLEXIL}\)Robot Operating System (\(\text {ROS}\)Control architectures Formal verification Rewriting logic Automatic reachability analysis 


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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  • Héctor Cadavid
    • 1
  • Alexander Pérez
    • 1
  • Camilo Rocha
    • 2
    Email author
  1. 1.Escuela Colombiana de Ingeniería Julio GaravitoBogotáColombia
  2. 2.Pontificia Universidad JaverianaSantiago de CaliColombia

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