Special Session: Embedded Software for Robotics: Challenges and Future Directions
18th ACM SIGBED International Conference on Embedded Software, EMSOFT 2018, Turin, İtalya, 30 Eylül - 05 Ekim 2018, (Tam Metin Bildiri)
- Yayın Türü: Bildiri / Tam Metin Bildiri
- Doi Numarası: 10.1109/emsoft.2018.8537236
- Basıldığı Şehir: Turin
- Basıldığı Ülke: İtalya
- Anahtar Kelimeler: Embedded software, monitor synthesis, Neural networks, Robot Operating System, Robotics, Secure state estimation
- Boğaziçi Üniversitesi Adresli: Hayır
Özet
This paper surveys recent challenges and solutions in the design, implementation, and verification of embedded software for robotics. Emphasis is placed on mobile robots, like self-driving cars. In design, it addresses programming support for robotic systems, secure state estimation, and ROS-based monitor generation. In the implementation phase, it describes the synthesis of control software using finite precision arithmetic, real-time platforms and architectures for safety-critical robotics, efficient implementation of neural network based-controllers, and standards for computer vision applications. The issues in verification include verification of neural network-based robotic controllers, and falsification of closed-loop control systems. The paper also describes notable open-source robotic platforms. Along the way, we highlight important research problems for developing the next generation of high-performance, low-resource-usage, correct embedded software.