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International Conference on Software Engineering and Formal Methods

SEFM 2017: Software Engineering and Formal Methods pp 423–437Cite as

Co-simulation of Semi-autonomous Systems: The Line Follower Robot Case Study

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Part of the book series: Lecture Notes in Computer Science ((LNPSE,volume 10729))

Abstract

Semi-autonomous systems are capable of sensing their environment and perform their tasks autonomously, but they may also be supervised by humans. The shared manual/automatic control makes the dynamics of such systems more complex, and undesirable and hardly predictable behaviours can arise from human-machine interaction. When these systems are used in critical applications, such as autonomous driving or robotic surgery, the identification of conditions that may lead the system to violate safety requirements is of main concern, since people actually entrust their life on them. In this paper, we extend an FMI-based co-simulation framework for cyber-physical systems with the possibility of modelling semi-autonomous robots. Co-simulation can be used to gain more insights on the system under analysis at early stages of system development, and to highlight the impact of human interaction on safety. This approach is applied to the Line Follower Robot case study, available in the INTO-CPS project.

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Notes

  1. 1.

    http://www.mathworks.com/products/simulink.

  2. 2.

    https://github.com/into-cps/case-study_line_follower_robot.

  3. 3.

    https://www.websocket.org.

  4. 4.

    https://github.com/PaoloMasci/pvsioweb-fmi-extensions.

  5. 5.

    https://github.com/gimbo/d3-gauge-plus.

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Acknowledgments

We would like to thank the INTO-CPS team for their support with the INTO-CPS tool-chain and the Line Follower Robot example. Paolo Masci’s work is financed by the ERDF (European Regional Development Fund) through the Operational Programme for Competitiveness and Internationalisation – COMPETE 2020 Programme, within the project POCI-01-0145-FEDER-006961, and by National Funds through the Portuguese funding agency, FCT (Fundação para a Ciência e a Tecnologia) as part of the project UID/EEA/50014/2013.

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Authors and Affiliations

  1. Dipartimento di Ingegneria dell’Informazione, University of Florence, Florence, Italy

    Maurizio Palmieri

  2. Dipartimento di Ingegneria dell’Informazione, University of Pisa, Pisa, Italy

    Maurizio Palmieri & Cinzia Bernardeschi

  3. HASLab/INESC TEC, Universidade do Minho, Braga, Portugal

    Paolo Masci

Authors
  1. Maurizio Palmieri
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  2. Cinzia Bernardeschi
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  3. Paolo Masci
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Correspondence to Paolo Masci .

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Editors and Affiliations

  1. Nazarbayev University, Astana, Kazakhstan

    Antonio Cerone

  2. Fondazione Bruno Kessler, Povo, Italy

    Marco Roveri

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Palmieri, M., Bernardeschi, C., Masci, P. (2018). Co-simulation of Semi-autonomous Systems: The Line Follower Robot Case Study. In: Cerone, A., Roveri, M. (eds) Software Engineering and Formal Methods. SEFM 2017. Lecture Notes in Computer Science(), vol 10729. Springer, Cham. https://doi.org/10.1007/978-3-319-74781-1_29

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  • DOI: https://doi.org/10.1007/978-3-319-74781-1_29

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  • Online ISBN: 978-3-319-74781-1

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