In this paper, we present a toolchain to design, execute, and verify robot behaviors. The toolchain follows the guidelines defined by the EU H2020 project RobMoSys and encodes the robot deliberation as a Behavior Tree (BT), a directed tree where the internal nodes model behavior composition and leaf nodes model action or measurement operations. Such leaf nodes take the form of a statechart (SC), which runs in separate threads, whose states perform basic arithmetic operations and send commands to the robot. The toolchain provides the ability to define a runtime monitor for a given system specification that warns the user whenever a given specification is violated. We validated the toolchain in a simulated experiment that we made reproducible in an OS-virtualization environment.
翻译:在本文中,我们提出了一个设计、执行和验证机器人行为的工具链。该工具链遵循了欧盟H2020项目RobMoSys确定的指导方针,并将机器人的考虑编码为行为树(BT),这是一棵定向树,内部节点行为模型组成和叶节点模型动作或测量操作。这种叶节点的形式是州图(SC),它以不同的线条运行,其国家执行基本的算术操作并向机器人发送指令。该工具链提供了为特定系统规格定义运行时间监测器的能力,该系统规格在特定规格被违反时警告用户。我们在模拟实验中验证了该工具链,我们在操作系统病毒环境下可以复制。