Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: A Verifiable and Correct-by-Construction Controller for Robot Functional
  Levels   Autonomous robots are complex systems that require the interaction and
cooperation between numerous heterogeneous software components. In recent
times, robots are being increasingly used for complex and safety-critical
tasks, such as exploring Mars and assisting/replacing humans. Consequently,
robots are becoming critical systems that must meet safety properties, in
particular, logical, temporal and real-time constraints. To this end, we
present an evolution of the LAAS architecture for autonomous systems, in
particular its GenoM tool. This evolution relies on the BIP component-based
design framework, which has been successfully used in other domains such as
embedded systems. We show how we integrate BIP into our existing methodology
for developing the lowest (functional) level of robots. Particularly, we
discuss the componentization of the functional level, the synthesis of an
execution controller for it, and how we verify whether the resulting functional
level conforms to properties such as deadlock-freedom. We also show through
experimentation that the verification is feasible and usable for complex, real
world robotic systems, and that the BIP-based functional levels resulting from
our new methodology are, despite an overhead during execution, still practical
on real world robotic platforms. Our approach has been fully implemented in the
LAAS architecture, and the implementation has been used in several experiments
on a real robot.

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The categories of this paper are: nlin
10
The categories of this paper are: q-bio
37
The categories of this paper are: supr-con
29
The categories of this paper are: funct-an
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The categories of this paper are: stat
23
The categories of this paper are: solv-int
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The categories of this paper are: q-fin
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The categories of this paper are: ao-sci
12
The categories of this paper are: nucl-th
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The categories of this paper are: mtrl-th
13
The categories of this paper are: quant-ph
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The categories of this paper are: dg-ga
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The categories of this paper are: math
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The categories of this paper are: chao-dyn
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The categories of this paper are: cmp-lg
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The categories of this paper are: adap-org