Paper Info
Title
A framework for formal specification of robotic constraint-based tasks and their concurrent execution with online qos monitoring
Abstract
Combining tasks, melding their activities in sequence and in parallel, in order to achieve the desired goal is a challenging research topic. In many practical applications, tasks could be fulfilled even though the robot does not achieve a perfect matching with a given quantitative objective. Thus, it could be possible to carry out other activities, mildly conflicting with the current goal, yet providing benefits for the overall execution of a complex sequence of tasks. This paper proposes i) a criteria to evaluate the execution of a monitored task, ii) an enriched task specification to express the tolerance with which a goal is fulfilled, so that iii) a sequence of tasks can be executed concurrently, on the basis of monitored quantities. Furthermore, the paper reports a classification of conflicting scenarios for a finer selection of the scheduler policy. Finally, results from experimental scenarios show the potential benefits of the proposed methodology.
Year
DOI
Venue
2014
10.1109/IROS.2014.6942971
Intelligent Robots and Systems
Keywords
Field
DocType
formal specification,monitoring,robots,scheduling,task analysis,concurrent execution,formal specification,online QoS monitoring,robotic constraint-based tasks,scheduler policy,task specification
Computer science,Quality of service,Formal specification,Distributed computing
Conference
ISSN
Citations 
PageRank 
2153-0858
0
0.34
References 
Authors
7
4
Name
Order
Citations
PageRank
Enea Scioni111.71
Gianni Borghesan211314.01
Herman Bruyninckx3893108.95
Marcello Bonfé46612.78