High-level mission specification for multiple robots

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216208%3A11320%2F19%3A10408450" target="_blank" >RIV/00216208:11320/19:10408450 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1145/3357766.3359535" target="_blank" >https://doi.org/10.1145/3357766.3359535</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1145/3357766.3359535" target="_blank" >10.1145/3357766.3359535</a>

Jazyk výsledku

angličtina

Název v původním jazyce

High-level mission specification for multiple robots

Popis výsledku v původním jazyce

Mobile robots are increasingly used in our everyday life to autonomously realize missions. A variety of languages has been proposed to support roboticists in the systematic development of robotic applications, ranging from logical languages with well-defined semantics to domain-specific languages with user-friendly syntax. The characteristics of both of them have distinct advantages, however, developing a language that combines those advantages remains an elusive task. We present PROMISE, a novel language that enables domain experts to specify missions on a high level of abstraction for teams of autonomous robots in a user-friendly way, while having well-defined semantics. Our ambition is to permit users to specify high-level goals instead of a series of specific actions the robots should perform. The language contains a set of atomic tasks that can be executed by robots and a set of operators that allow the composition of these tasks in complex missions. The language is supported by a standalone tool that permits mission specification through a textual and a graphical interface and that can be integrated within a variety of frameworks. We integrated PROMISE with a software platform providing functionalities such as motion control and planning. We conducted experiments to evaluate the correctness of the specification and execution of complex robotic missions with both simulators and real robots. We also conducted two user studies to assess the simplicity of PROMISE. The results show that PROMISE effectively supports users to specify missions for robots in a user-friendly manner.

Název v anglickém jazyce

High-level mission specification for multiple robots

Popis výsledku anglicky

Mobile robots are increasingly used in our everyday life to autonomously realize missions. A variety of languages has been proposed to support roboticists in the systematic development of robotic applications, ranging from logical languages with well-defined semantics to domain-specific languages with user-friendly syntax. The characteristics of both of them have distinct advantages, however, developing a language that combines those advantages remains an elusive task. We present PROMISE, a novel language that enables domain experts to specify missions on a high level of abstraction for teams of autonomous robots in a user-friendly way, while having well-defined semantics. Our ambition is to permit users to specify high-level goals instead of a series of specific actions the robots should perform. The language contains a set of atomic tasks that can be executed by robots and a set of operators that allow the composition of these tasks in complex missions. The language is supported by a standalone tool that permits mission specification through a textual and a graphical interface and that can be integrated within a variety of frameworks. We integrated PROMISE with a software platform providing functionalities such as motion control and planning. We conducted experiments to evaluate the correctness of the specification and execution of complex robotic missions with both simulators and real robots. We also conducted two user studies to assess the simplicity of PROMISE. The results show that PROMISE effectively supports users to specify missions for robots in a user-friendly manner.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

—

Návaznosti

I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Rok uplatnění

2019

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název statě ve sborníku

Proceedings of the 12th ACM SIGPLAN International Conference on Software Language Engineering, co-located with SPLASH 2019

ISBN

978-1-4503-6981-7

ISSN

—

e-ISSN

—

Počet stran výsledku

14

Strana od-do

127-140

Název nakladatele

ACM

Místo vydání

New York, NY

Místo konání akce

Athens, Greece

Datum konání akce

20. 10. 2019

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

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