arXiv subjects

Andrzej Wasowski

Publications and source records attributed to Andrzej Wasowski.

11 recordsLinked to original sources

arXiv2025

Behavior Trees and State Machines in Robotics Applications

Autonomous robots combine skills to form increasingly complex behaviors, called missions. While skills are often programmed at a relatively low abstraction level, their coordination is architecturally separated and often expressed in higher-level languages or frameworks. State machines have been the go-to language to model behavior for decades, but recently, behavior trees have gained attention among roboticists. Although several implementations of behavior trees are in use, little is known about their usage and scope in the real world.How do concepts offered by behavior trees relate to traditional languages, such as state machines? How are concepts in behavior trees and state machines used in actual applications? This paper is a study of the key language concepts in behavior trees as realized in domain-specific languages (DSLs), internal and external DSLs offered as libraries, and their use in open-source robotic applications supported by the Robot Operating System (ROS). We analyze behavior-tree DSLs and compare them to the standard language for behavior models in robotics:state machines. We identify DSLs for both behavior-modeling languages, and we analyze five in-depth.We mine open-source repositories for robotic applications that use the analyzed DSLs and analyze their usage. We identify similarities between behavior trees and state machines in terms of language design and the concepts offered to accommodate the needs of the robotics domain. We observed that the usage of behavior-tree DSLs in open-source projects is increasing rapidly. We observed similar usage patterns at model structure and at code reuse in the behavior-tree and state-machine models within the mined open-source projects. We contribute all extracted models as a dataset, hoping to inspire the community to use and further develop behavior trees, associated tools, and analysis techniques.

cs.RO↗

arXiv2024

Risk-Averse Planning and Plan Assessment for Marine Robots

Autonomous Underwater Vehicles (AUVs) need to operate for days without human intervention and thus must be able to do efficient and reliable task planning. Unfortunately, efficient task planning requires deliberately abstract domain models (for scalability reasons), which in practice leads to plans that might be unreliable or under performing in practice. An optimal abstract plan may turn out suboptimal or unreliable during physical execution. To overcome this, we introduce a method that first generates a selection of diverse high-level plans and then assesses them in a low-level simulation to select the optimal and most reliable candidate. We evaluate the method using a realistic underwater robot simulation, estimating the risk metrics for different scenarios, demonstrating feasibility and effectiveness of the approach.

cs.RO↗

arXiv2024

Uncertainty Driven Active Learning for Image Segmentation in Underwater Inspection

Active learning aims to select the minimum amount of data to train a model that performs similarly to a model trained with the entire dataset. We study the potential of active learning for image segmentation in underwater infrastructure inspection tasks, where large amounts of data are typically collected. The pipeline inspection images are usually semantically repetitive but with great variations in quality. We use mutual information as the acquisition function, calculated using Monte Carlo dropout. To assess the effectiveness of the framework, DenseNet and HyperSeg are trained with the CamVid dataset using active learning. In addition, HyperSeg is trained with a pipeline inspection dataset of over 50,000 images. For the pipeline dataset, HyperSeg with active learning achieved 67.5% meanIoU using 12.5% of the data, and 61.4% with the same amount of randomly selected images. This shows that using active learning for segmentation models in underwater inspection tasks can lower the cost significantly.

cs.CV↗

arXiv2023

Timed I/O Automata: It is never too late to complete your timed specification theory

A specification theory combines notions of specifications and implementations with a satisfaction relation, a refinement relation and a set of operators supporting stepwise design. We develop a complete specification framework for real-time systems using Timed I/O Automata as the specification formalism, with the semantics expressed in terms of Timed I/O Transition Systems. We provide constructs for refinement, consistency checking, logical and structural composition, and quotient of specifications -- all indispensable ingredients of a compositional design methodology. The theory is backed by rigorous proofs and is being implemented in the open-source tool ECDAR.

cs.FL↗

arXiv2023

MROS: A framework for robot self-adaptation

Self-adaptation can be used in robotics to increase system robustness and reliability. This work describes the Metacontrol method for self-adaptation in robotics. Particularly, it details how the MROS (Metacontrol for ROS Systems) framework implements and packages Metacontrol, and it demonstrate how MROS can be applied in a navigation scenario where a mobile robot navigates in a factory floor. Video: https://www.youtube.com/watch?v=ISe9aMskJuE

cs.RO↗

arXiv2023

Autonomy Is An Acquired Taste: Exploring Developer Preferences for GitHub Bots

Software bots fulfill an important role in collective software development, and their adoption by developers promises increased productivity. Past research has identified that bots that communicate too often can irritate developers, which affects the utility of the bot. However, it is not clear what other properties of human-bot collaboration affect developers' preferences, or what impact these properties might have. The main idea of this paper is to explore characteristics affecting developer preferences for interactions between humans and bots, in the context of GitHub pull requests. We carried out an exploratory sequential study with interviews and a subsequent vignette-based survey. We find developers generally prefer bots that are personable but show little autonomy, however, more experienced developers tend to prefer more autonomous bots. Based on this empirical evidence, we recommend bot developers increase configuration options for bots so that individual developers and projects can configure bots to best align with their own preferences and project cultures.

cs.SE↗

arXiv2021

MROS: Runtime Adaptation For Robot Control Architectures

Known attempts to build autonomous robots rely on complex control architectures, often implemented with the Robot Operating System platform (ROS). Runtime adaptation is needed in these systems, to cope with component failures and with contingencies arising from dynamic environments-otherwise, these affect the reliability and quality of the mission execution. Existing proposals on how to build self-adaptive systems in robotics usually require a major re-design of the control architecture and rely on complex tools unfamiliar to the robotics community. Moreover, they are hard to reuse across applications. This paper presents MROS: a model-based framework for run-time adaptation of robot control architectures based on ROS. MROS uses a combination of domain-specific languages to model architectural variants and captures mission quality concerns, and an ontology-based implementation of the MAPE-K and meta-control visions for run-time adaptation. The experiment results obtained applying MROS in two realistic ROS-based robotic demonstrators show the benefits of our approach in terms of the quality of the mission execution, and MROS' extensibility and re-usability across robotic applications.

cs.RO↗

arXiv2019

Variability Abstraction and Refinement for Game-based Lifted Model Checking of full CTL (Extended Version)

Variability models allow effective building of many custom model variants for various configurations. Lifted model checking for a variability model is capable of verifying all its variants simultaneously in a single run by exploiting the similarities between the variants. The computational cost of lifted model checking still greatly depends on the number of variants (the size of configuration space), which is often huge. One of the most promising approaches to fighting the configuration space explosion problem in lifted model checking are variability abstractions. In this work, we define a novel game-based approach for variability-specific abstraction and refinement for lifted model checking of the full CTL, interpreted over 3-valued semantics. We propose a direct algorithm for solving a 3-valued (abstract) lifted model checking game. In case the result of model checking an abstract variability model is indefinite, we suggest a new notion of refinement, which eliminates indefinite results. This provides an iterative incremental variability-specific abstraction and refinement framework, where refinement is applied only where indefinite results exist and definite results from previous iterations are reused.

cs.PL↗

arXiv2018

Verification of High-Level Transformations with Inductive Refinement Types

High-level transformation languages like Rascal include expressive features for manipulating large abstract syntax trees: first-class traversals, expressive pattern matching, backtracking and generalized iterators. We present the design and implementation of an abstract interpretation tool, Rabit, for verifying inductive type and shape properties for transformations written in such languages. We describe how to perform abstract interpretation based on operational semantics, specifically focusing on the challenges arising when analyzing the expressive traversals and pattern matching. Finally, we evaluate Rabit on a series of transformations (normalization, desugaring, refactoring, code generators, type inference, etc.) showing that we can effectively verify stated properties.

cs.PL↗

arXiv2018

Clafer: Lightweight Modeling of Structure, Behaviour, and Variability

Embedded software is growing fast in size and complexity, leading to intimate mixture of complex architectures and complex control. Consequently, software specification requires modeling both structures and behaviour of systems. Unfortunately, existing languages do not integrate these aspects well, usually prioritizing one of them. It is common to develop a separate language for each of these facets. In this paper, we contribute Clafer: a small language that attempts to tackle this challenge. It combines rich structural modeling with state of the art behavioural formalisms. We are not aware of any other modeling language that seamlessly combines these facets common to system and software modeling. We show how Clafer, in a single unified syntax and semantics, allows capturing feature models (variability), component models, discrete control models (automata) and variability encompassing all these aspects. The language is built on top of first order logic with quantifiers over basic entities (for modeling structures) combined with linear temporal logic (for modeling behaviour). On top of this semantic foundation we build a simple but expressive syntax, enriched with carefully selected syntactic expansions that cover hierarchical modeling, associations, automata, scenarios, and Dwyer's property patterns. We evaluate Clafer using a power window case study, and comparing it against other notations that substantially overlap with its scope (SysML, AADL, Temporal OCL and Live Sequence Charts), discussing benefits and perils of using a single notation for the purpose.

cs.PL↗

arXiv2017

Effective Analysis of C Programs by Rewriting Variability

Context. Variability-intensive programs (program families) appear in many application areas and for many reasons today. Different family members, called variants, are derived by switching statically configurable options (features) on and off, while reuse of the common code is maximized. Inquiry. Verification of program families is challenging since the number of variants is exponential in the number of features. Existing single-program analysis and verification tools cannot be applied directly to program families, and designing and implementing the corresponding variability-aware versions is tedious and laborious. Approach. In this work, we propose a range of variability-related transformations for translating program families into single programs by replacing compile-time variability with run-time variability (non-determinism). The obtained transformed programs can be subsequently analyzed using the conventional off- the-shelf single-program analysis tools such as type checkers, symbolic executors, model checkers, and static analyzers. Knowledge. Our variability-related transformations are outcome-preserving, which means that the relation between the outcomes in the transformed single program and the union of outcomes of all variants derived from the original program family is equality. Grounding. We show our transformation rules and their correctness with respect to a minimal core imperative language IMP. Then, we discuss our experience of implementing and using the transformations for efficient and effective analysis and verification of real-world C program families. Importance. We report some interesting variability-related bugs that we discovered using various state-of-the-art single-program C verification tools, such as Frama-C, Clang, LLBMC.

cs.PL↗