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Verified Ros-Based Deployment Of Platform-Independent Control Systems, Wenrui Meng, Junkil Park, Oleg Sokolsky, Stephanie Weirich, Insup Lee
Verified Ros-Based Deployment Of Platform-Independent Control Systems, Wenrui Meng, Junkil Park, Oleg Sokolsky, Stephanie Weirich, Insup Lee
Oleg Sokolsky
The paper considers the problem of model-based deployment of platform-independent control code on a specific platform. The approach is based on automatic generation of platform-specific glue code from an architectural model of the system. We present a tool, ROSGen, that generates the glue code based on a declarative specification of platform interfaces. Our implementation targets the popular Robot Operating System (ROS) platform. We demonstrate that the code generation process is amenable to formal verification. The code generator is implemented in Coq and relies on the infrastructure provided by the CompCert and VST tool. We prove that the generated code always …
Verified Ros-Based Deployment Of Platform-Independent Control Systems, Wenrui Meng, Junkil Park, Oleg Sokolsky, Stephanie Weirich, Insup Lee
Verified Ros-Based Deployment Of Platform-Independent Control Systems, Wenrui Meng, Junkil Park, Oleg Sokolsky, Stephanie Weirich, Insup Lee
Oleg Sokolsky
The paper considers the problem of model-based deployment of platform-independent control code on a specific platform. The approach is based on automatic generation of platform-specific glue code from an architectural model of the system. We present a tool, ROSGen, that generates the glue code based on a declarative specification of platform interfaces. Our implementation targets the popular Robot Operating System (ROS) platform. We demonstrate that the code generation process is amenable to formal verification. The code generator is implemented in Coq and relies on the infrastructure provided by the CompCert and VST tool. We prove that the generated code always …