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Smart Anything Everywhere

Cyber-Physical Systems Engineering Labs is part of the Smart Anything Everywhere initiative.

This project has received funding from the European Union's Horizon 2020 research and innovation programme under grant agreement No 644400.

FormalRob (Rigorous framework for developing and validating robotic applications)

Problem and solution

In this work, the BIP modeling framework is integrated within GenoM3, a specification and implementation framework for robotics functional modules. GenoM3, is an evolution of GenoM which is templates based and allows to synthesize functional modules using different middleware (pocolibs, ROS-Comm, etc.). We developed the appropriate GenoM3 templates to make the BIP module model automatically generated from the GenoM description (tasks, requests and posters) and associated codels. To illustrate this approach, we implemented a complete set of functional modules using GenoM3/BIP to perform basic navigation tasks. Some offline verification and validation (V&V) have been done on this set of functional modules to show that particular properties are satisfied (deadlock freedom, etc.).

How did CPSE Labs Help?

The benefit for the experimenter is to extend their tool and approach to propose it for robotics application, by integrating their environment for verification, validation and rigorous software development into robotic applications. It also allow the experimenter to test and validate its approach with complex real life example. The GenoM/BIP framework will support this environment. One objective of this project is to allow verification and validation of robotic systems at different design levels and thus reach a high degree of maturity at as low as possible cost.

Impact

According to a report from Navigant Research, worldwide sales of vehicles with autonomous capabilities will grow from zero in 2014 to 94.7 million in 2035. Without waiting for the legal framework, which is currently being implemented thanks to the efforts of CityMobil2 and several European governments, the market study conducted as part of the TAXISAT European project revealed that the first wave of user demand would emerge in Europe in 2015 for new, more flexible and efficient transport services. We believe that these short and medium term markets will grow so fast that current companies designing vehicles with autonomous capabilities will face two challenges: (1) evolution of both hardware and autonomous architecture; (2) proof of the vehicle safety.

The need of formal verification to ensure safety of passengers, but also all surrounding road users, arises from the overgrowing number of complex situations that autonomous vehicles must handle. While it was feasible to validate the vehicles behavior manually in simple cases, functionalities expected from an autonomous vehicle require an automatic validation.

In this regard, the usage of GenoM3/BIP will provide a highly valuable opportunity to tackle these challenges. Indeed, Genom3/BIP will provide the ability to design a sound architecture, which serves as a basis for code generation, automatic documentation and for automatic testing.

Outputs

automatically generated BIP model

GenoM3 BIP template allows GenoM3 users to synthesize a BIP model of their robot.

Design centre

This experiment is supported by our France design centre

France design centre

Technology platforms

GenoM Logo

Partners

Universite Joseph Fourier Logo

Dates

1st Nov 2015 - 1st Jan 2017
Funded under: CPSE Labs Call 1