Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Engineering the Hardware/Software Interface for Robotic Platforms - A
  Comparison of Applied Model Checking with Prolog and Alloy   Robotic platforms serve different use cases ranging from experiments for
prototyping assistive applications up to embedded systems for realizing
cyber-physical systems in various domains. We are using 1:10 scale miniature
vehicles as a robotic platform to conduct research in the domain of
self-driving cars and collaborative vehicle fleets. Thus, experiments with
different sensors like e.g.~ultra-sonic, infrared, and rotary encoders need to
be prepared and realized using our vehicle platform. For each setup, we need to
configure the hardware/software interface board to handle all sensors and
actors. Therefore, we need to find a specific configuration setting for each
pin of the interface board that can handle our current hardware setup but which
is also flexible enough to support further sensors or actors for future use
cases. In this paper, we show how to model the domain of the configuration
space for a hardware/software interface board to enable model checking for
solving the tasks of finding any, all, and the best possible pin configuration.
We present results from a formal experiment applying the declarative languages
Alloy and Prolog to guide the process of engineering the hardware/software
interface for robotic platforms on the example of a configuration complexity up
to ten pins resulting in a configuration space greater than 14.5 million
possibilities. Our results show that our domain model in Alloy performs better
compared to Prolog to find feasible solutions for larger configurations with an
average time of 0.58s. To find the best solution, our model for Prolog performs
better taking only 1.38s for the largest desired configuration; however, this
important use case is currently not covered by the existing tools for the
hardware used as an example in this article.

28
The categories of this paper are: alg-geom
6
The categories of this paper are: astro-ph
31
The categories of this paper are: ao-sci
3
The categories of this paper are: physics
21
The categories of this paper are: adap-org
33
The categories of this paper are: plasm-ph
13
The categories of this paper are: quant-ph
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The categories of this paper are: chem-ph
9
The categories of this paper are: nlin
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The categories of this paper are: solv-int
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The categories of this paper are: chao-dyn
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The categories of this paper are: patt-sol
0
The categories of this paper are: hep-ph
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The categories of this paper are: q-fin
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The categories of this paper are: hep-ex
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The categories of this paper are: funct-an