Towards ASSL specification of self-scheduling design and monitoring in team-robotics modeled with AS-TRM

Abstract

Team-Robotics is an evolving mobile embedded system comprising a set of autonomous mobile robots operating in a dynamic environment and cooperating to fulfill a particular task. Scheduling is one of the main attributes of Team-Robotics. The objective of this research is to enable software self-scheduling and its monitoring at runtime in evolving Team Robotics systems modeled as reactive autonomic systems with the Autonomic Systems Timed Reactive Model (AS-TRM) architecture. In this paper, we propose a runtime self-monitoring methodology for controlling the correctness of behavior in such a system, based on the synchronous composition of its reactive autonomic components modeled as labeled transition systems, and from the specification of system policies such as safety and liveness. The AS-TRM architecture, sustaining the real-time self-scheduling modeling, verification and monitoring, is further refined with the Autonomic System Specification Language (ASSL) - a framework for formally specifying and generating autonomic systems. With ASSL, we can specify high-level behavior policies, thus it is a highly appropriate language for specifying self-scheduling mechanism as part of the overall team-robotics system behavior. © Springer Science+Business Media B.V. 2008.