RobotSoftwareArchitectures 2023
Co-located with ICRA 2023 - IEEE
International Conference on Robotics and Automation
International Conference on Robotics and Automation
| Home | Call for Papers | Program | Photos |
| 08:45 – 09:00 | Welcome and Opening Remarks |
| Organizers |
Chair: Prof. Davide Brugali (Università degli Studi di Bergamo)
| 09:00 – 09:20 | Software Development Processes and best Practices in Robotics |
| Dr. Carlos Agüero (Open Robotics) | |
|
Open Robotics has been the stewards of ROS and Gazebo for more than ten years. These two projects have their own set of challenges that need to be addressed to deliver quality products to the community. Versioning, stability, packaging, maintenance, are some examples of the challenges to consider during the development cycle of ROS and Gazebo. During the talk, we will present the most interesting aspects of the development cycle at Open Robotics and the recommended best practices that we follow.
Here is the link to the presentation. |
| 09:20 – 09:40 | Architecture evolution from prototype to product |
| Dr. Ingo Lütkebohle (Bosch Research) | |
| In a technically challenging, fast-moving field such as robotics, the time between prototypes and products is often short. However, the architectural qualities that are important change can change quite dramatically during that time. In this talk, I will discuss how we have addressed this challenge at Bosch Research both using the built-in capabilities of ROS 2 to realize quite different architectures, as well as ideas from evolutionary architecture to maintain quality fit. |
| 09:40 – 10:00 | Scenario-Based Engineering of Trustworthy Autonomous Systems |
| Prof. Nico Hochgeschwender (Bonn-Rhein-Sieg University) | |
| The wider adoption of robotic and autonomous systems by society depends upon the perceived trust of various stakeholders (e.g., engineers, users, regulators etc.) on the dependable and ethical nature of these systems. However, developers face unprecendented engineering challenges caused by the intrinsic characteristics of autonomous systems such as their enormous design space, their challenging and uncertain operation conditions, and their demand to recover quickly from failures to name a few. The construction of trustworthy autonomous systems remains a key challenge, calling for new engineering concepts, methods and tools. To this end, in this talk I will present my past, present and future research centered around the concept of scenarios enabling developers to capture and express knowledge and assumptions about the robot’s tasks, platform and environment explicitly and formally in the form of domain models. Previously these models where merely seen as a way to support humans during the robot’s software design process. In this talk I will argue that scenarios should be exploited throughout the complete life-cycle of autonomous systems for the sake of continuously assuring, for example, their safety. But the scenarios should also be used for robots themselves for the sake of autonomously adapting their software to the various and changing run-time requirements induced by the robot’s task or environment. |
| 10:00 – 10:30 | Moderated discussion |
| Organizers | |
| 10:30 – 11:00 | Coffee Break & Poster session |
Chair: Dr. Luciana Rebelo (GSSI - Gran Sasso Science Institute)
| 11:00 – 11:20 | Architectural Modelling for Robotics: RoboArch |
| Prof. Ana Cavalcanti (University of York) | |
|
The need for robotic systems to be verified grows as robots are increasingly used in complex applications with safety implications. Model-driven engineering and domain-specific languages (DSLs) have proven useful in the development of complex systems. RoboChart is a DSL for modelling robot software controllers using state machines and a simple component model. It is distinctive in that it has a formal semantics and support for automated verification. Our work enriches RoboChart with support for modelling architectures and architectural patterns used in the robotics domain. Support is in the shape of an additional DSL, RoboArch, whose primitive concepts encapsulate the notion of a layered architecture and architectural patterns for use in the design of the layers that are only informally described in the literature. A RoboArch model can be used to generate automatically a sketch of a RoboChart model, and the rules for automatic generation define a semantics for RoboArch. Additional patterns can be formalised by extending RoboArch.
Here is the link to the presentation. |
| 11:20 – 11:40 | Software Architecture for Mission Coordination of Heterogeneous Robots |
| Prof. Patrizio Pelliccione (GSSI - Gran Sasso Science Institute) | |
|
Robots can potentially collaborate to execute a variety of tasks in the service robots domain. However, developing applications of service robots can be complex due to the high level of uncertainty and required level of autonomy. Multi-robots task allocation requires a system architecture solution able to take into account the dynamic and uncertain environments of service robots, the variability of the missions, and the characteristics of the robots. In this talk, I will discuss about existing architectural solutions and future research directions.
Here is the link to the presentation. |
| 11:40 – 12:00 | On Specifying for Trustworthiness |
| Dr. Dhaminda Abeywickrama (University of Bristol) | |
|
As autonomous systems are becoming part of our daily lives, ensuring their trustworthiness is crucial. There are a number of techniques for demonstrating trustworthiness. Common to all these techniques is the need to articulate specifications. In this talk, we will present a set of high-level intellectual challenges for the autonomous systems community related to specifying for trustworthiness. We will also summarise unique specification challenges in specific application domains for autonomous systems. In addition, we will briefly describe our experiences in specifying for trustworthiness, focusing on robotics swarms, UAV flight control systems, and soft gripping.
Here is the link to the presentation. |
| 12:00 – 12:30 | Moderated discussion |
| Organizers | |
| 12:30 - 14:00 | Lunch & Poster session |
Chair: Prof. Nico Hochgeschwender (Bonn-Rhein-Sieg University)
| 14:00 – 14:25 | Architectural Model Inference from Code for ROS-based Robotics Systems. |
| Tobias Dürschmid, Christopher Timperley, David Garlan and Claire Le Goues (Carnegie Mellon University) | |
| Here is the link to the presentation. |
| 14:25 – 14:50 | Composing Behaviour Trees for Rapid Application Development in Mobile Human-Robot-Collaboration |
| Stefan Eiband, Alwin Hoffmann and Florian Kerber (XITASO GmbH, University of Applied Sciences Augsburg) | |
| 14:50 – 15:15 | XBot2D: Towards a Hybrid Cloud Architecture for Robotics |
| Luca Muratore and Nikos Tsagarakis (Istituto Italiano di Tecnologia - IIT) | |
| 15:15 – 16:00 | Coffee Break & Poster session |
Chair: Dr. Luciana Rebelo (GSSI - Gran Sasso Science Institute)
| 16:00 – 16:25 | A Toolchain for Robotic System Specification and Implementation |
| Maksym Figat and Cezary Zielinski (Warsaw University of Technology) | |
| 16:25 – 16:50 | Agilicious: Design of a Software Architecture for Agile Quadrotor Flight |
| Leonard Bauersfeld and Davide Scaramuzza (University of Zurich) | |
| 16:50 – 17:15 | A Scheduling Framework Enabling Safety-Performance Trade-Offs in Robot Software. |
| Ashrarul Sifat, Xuanliang Deng, Sen Wang, Shaoyu Huang, Jiabin Huang, Changhee Jung, Haibo Zeng and Ryan Williams (Virginia Tech, Purdue University, University of Maryland) | |
| Here is the link to the presentation. |
| 17:15 – 17:30 | Closing remarks |
| Prof. Davide Brugali (Università degli Studi di Bergamo) |
| Designing AI-driven Perception Systems via Container-based Infrastructures: A Case Study for Autonomous Vehicles |
| Donato Di Paola, Takehito Ogata and Alexis Holgado |
| Here is the link to the poster. |
| Synchronizing Machine Learning Algorithms, Realtime Robotic Control and Simulated Environment with o80 |
| Vincent Berenz, Felix Widmaier Widmaier, Simon Guist, Bernhard Schölkopf and Dieter Büchler |
| Here is the link to the poster. |
| Automatic Extraction of Time-windowed ROS Computation Graphs from ROS Bag Files |
| Zhuojun Chen, Michel Albonico and Michel Albonico |
| Towards Self-adaptive Autonomous Robot Behavior to Meet Non-functional Requirements |
| Elvin Alberts, Ilias Gerostathopoulos and Carlos Hernandez CorbatIlias GerostathopouloIlias Gerostathopoulos |
| Enabling Robot Autonomy through a Modular Software Framework |
| Fetullah Atas, Grzegorz Cielniak, Lars Grimstad |