Director of Research (if dissertation) or Advisor (if thesis)
Mitra, Sayan
Department of Study
Electrical & Computer Eng
Discipline
Electrical & Computer Engr
Degree Granting Institution
University of Illinois at Urbana-Champaign
Degree Name
M.S.
Degree Level
Thesis
Keyword(s)
distributed robotics
distributed algorithms
verification
robotics
robot programming framework
Abstract
Reasoning about programs controlling distributed robotic systems is challenging. These systems involve the interactions of multiple programs with
each other over potentially unreliable communication channels and the interactions of these programs with an unpredictable physical environment. This
thesis presents the StarL programming paradigm, its software embodiment and applications. StarL is designed to simplify the process of writing and reasoning about reliable distributed robotics applications. It provides a collection of building block functions with well-defined interfaces and precise
guarantees. Composing these functions, it is possible to write more sophisticated functions and applications which are amenable to assume-guarantee style reasoning. StarL is platform independent and can be used in conjunction with any mobile robotic system and communication channel. Design choices made in the current Android/Java-based open source implementation are discussed along with three exemplar applications: distributed search, geocast, and distributed painting. It is illustrated how application-level safety guarantees can be obtained from the properties of the building blocks and environmental assumptions. Experimental results establish the feasibility of the StarL approach and show that the performance of an application scales in the expected manner with an increasing number of participating robots.
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