Towards code-aware robotic simulation

John Paul Ore, Carrick Detweiler, Sebastian Elbaum

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This vision paper explores the potential to dramatically enrich robotic simulations with insights gleaned from program analysis, and promises to be a key tool for future robot system developers to reduce effort and find tricky corner cases. Robotic simulations are a critical, cost-effective tool for developing, testing, and validating robotic software. However, most robotics simulations are intentionally unaware of how the code works. Our approach leverages two recent developments: 1) automatic program analysis that can semantically ground program variables and predicates in physical quantities like distance, velocity, or force; and 2) standardized simulation specifications that identify both what elements are simulated and also how they are simulated. Code-aware robotic simulation could enable robot system developers who increasingly rely on simulation to lower the cost and risk of system development by having access to richer simulation scenarios. We describe the approach using a detailed, step-by-step illustration for C++ using the Robot Operating System (ROS) and the Simulation Description Format (SDFormat), and identify key challenges to realizing this vision.

Original languageEnglish (US)
Title of host publicationProceedings 2018 ACM/IEEE 1st International Workshop on Robotics Software Engineering, RoSE 2018
PublisherIEEE Computer Society
Pages40-43
Number of pages4
ISBN (Electronic)9781450357609
DOIs
StatePublished - May 28 2018
Event1st ACM/IEEE International Workshop on Robotics Software Engineering, RoSE 2018, co-located with the 40th International Conference on Software Engineering, ICSE 2018 - Gothenburg, Sweden
Duration: May 28 2018 → …

Publication series

NameProceedings - International Conference on Software Engineering
ISSN (Print)0270-5257

Conference

Conference1st ACM/IEEE International Workshop on Robotics Software Engineering, RoSE 2018, co-located with the 40th International Conference on Software Engineering, ICSE 2018
Country/TerritorySweden
CityGothenburg
Period5/28/18 → …

ASJC Scopus subject areas

  • Software

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