Special Session: Embedded Software for Robotics: Challenges and Future Directions

Houssam Abbas, Indranil Saha, Yasser Shoukry, Rudiger Ehlers, Georgios Fainekos, Rajesh Gupta, Rupak Majumdar, Dogan Ulus

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

2 Scopus citations

Abstract

This paper surveys recent challenges and solutions in the design, implementation, and verification of embedded software for robotics. Emphasis is placed on mobile robots, like self-driving cars. In design, it addresses programming support for robotic systems, secure state estimation, and ROS-based monitor generation. In the implementation phase, it describes the synthesis of control software using finite precision arithmetic, real-time platforms and architectures for safety-critical robotics, efficient implementation of neural network based-controllers, and standards for computer vision applications. The issues in verification include verification of neural network-based robotic controllers, and falsification of closed-loop control systems. The paper also describes notable open-source robotic platforms. Along the way, we highlight important research problems for developing the next generation of high-performance, low-resource-usage, correct embedded software.

Original languageEnglish (US)
Title of host publication2018 Proceedings of the International Conference on Embedded Software, EMSOFT 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538655641
DOIs
StatePublished - Nov 15 2018
Event18th ACM SIGBED International Conference on Embedded Software, EMSOFT 2018 - Turin, Italy
Duration: Sep 30 2018Oct 5 2018

Publication series

Name2018 Proceedings of the International Conference on Embedded Software, EMSOFT 2018

Conference

Conference18th ACM SIGBED International Conference on Embedded Software, EMSOFT 2018
CountryItaly
CityTurin
Period9/30/1810/5/18

Keywords

  • Embedded software
  • monitor synthesis
  • Neural networks
  • Robot Operating System
  • Robotics
  • Secure state estimation

ASJC Scopus subject areas

  • Computer Networks and Communications
  • Hardware and Architecture
  • Software
  • Control and Optimization

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  • Cite this

    Abbas, H., Saha, I., Shoukry, Y., Ehlers, R., Fainekos, G., Gupta, R., Majumdar, R., & Ulus, D. (2018). Special Session: Embedded Software for Robotics: Challenges and Future Directions. In 2018 Proceedings of the International Conference on Embedded Software, EMSOFT 2018 [8537236] (2018 Proceedings of the International Conference on Embedded Software, EMSOFT 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/EMSOFT.2018.8537236