Formalized modeling and verification method of ROS underlying communication mechanism and application thereof

A technology of formal modeling and formal verification, applied in the field of formal modeling and verification of the underlying communication mechanism of ROS, it can solve the problems of ambiguity and misleading, and achieve the effect of verification without deadlock.

Active Publication Date: 2021-07-16
EAST CHINA NORMAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The general description of ROS properties is extracted and described by individuals. The properties extracted and described by individuals will inevitably have ambiguity, which will mislead related work during the implementation and testing process.

Method used

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  • Formalized modeling and verification method of ROS underlying communication mechanism and application thereof
  • Formalized modeling and verification method of ROS underlying communication mechanism and application thereof
  • Formalized modeling and verification method of ROS underlying communication mechanism and application thereof

Examples

Experimental program
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Embodiment

[0047] In this embodiment, as image 3 Taking the instance of three nodes A, B, and C subscribing to each other as an example, the formal modeling is carried out according to the ROS source code, and the formal verification and analysis are carried out on the formal model and the ROS application based on the three nodes subscribing to each other.

[0048] In this embodiment, the formal modeling and verification method of the ROS underlying communication mechanism of the present invention is used to formally model and verify the properties of the "publish / subscribe" communication mechanism required by ROS, and analyze the modeling and verification results. To get the correctness of the ROS code implementation, the specific steps are as follows:

[0049] Step 1: Analyze and extract the description of the properties that ROS needs to meet in the "publish / subscribe" communication mechanism, and extract the key properties that need to be verified.

[0050] According to the communi...

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Abstract

The invention discloses a formalized modeling and verification method for an ROS underlying communication mechanism, and the method comprises the steps: firstly extracting modules, functions and rules of the ROS underlying communication mechanism according to an open source code of an ROS; establishing a formalized model about an underlying theme communication mechanism; extracting key properties according to a 'publishing/subscribing' communication mechanism, and describing he properties by using a tense logic language; designing an ROS application example, and verifying the key properties described by the tense logic language by using a formalized verification tool and combining the application example with the established formalized model; and analyzing a 'publishing/subscribing' communication mechanism of the ROS according to the verification result and process. The method is applied to the specific implementation of the ROS comprising three mutually subscribed nodes, and the deadlock-free property, accessibility, activity and correctness of the ROS and ROS application implementation are improved through formalized verification.

Description

technical field [0001] The invention belongs to the technical field of robot operating system (ROS), and in particular relates to a formalized modeling and verification method of a communication mechanism at the bottom of the ROS and an application thereof. Background technique [0002] The enrichment of robot technology greatly facilitates our life. With the development of software and hardware technology, fields such as home furnishing, environmental protection, industrial production, medical care and military activities are increasingly dependent on robot technology. On the other hand, with the development of robot technology With the vigorous development of all walks of life, the interaction with humans is becoming more and more frequent. Once a robot makes a mistake, it is very likely to lead to disastrous consequences. This requires the robot system to have extremely high requirements for the security and reliability of the communication between each node. In recent y...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F11/36
CPCG06F11/3608Y02D10/00
Inventor 郭建王子健孙正旺
Owner EAST CHINA NORMAL UNIV
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