![]() This paper systematically surveys the state-of-the art in specification formalisms and tools for verifying robotic systems. There have been many approaches that have used some variety of formal specification or formal verification in autonomous robotics, but there is no resource that collates this activity in to one place. The increasing deployment of robotic systems in safety-critical scenarios exacerbates this still further and leads us towards the use of formal methods to ensure the correctness of, and provide sufficient evidence for the certification of, robotic systems. While for many engineered systems testing, either through real deployment or via simulation, is deemed sufficient the uniquely challenging elements of robotic systems, together with the crucial dependence on sophisticated software control and decision-making, requires a stronger form of verification. Robotic systems are complex and critical: they are inherently hybrid, combining both hardware and software they typically exhibit both cyber-physical attributes and autonomous capabilities and are required to be at least safe and often ethical. We show that by using TZC, the braking distance can be shortened by 16% than ROS. We also demonstrate the benefits of TZC by integrating with TurtleBot2 that are used in autonomous driving scenarios. In particular, when the message size is 4MB (less than the size of a full HD image), TZC can reduce the overhead of ROS IPC from tens of milliseconds to hundreds of microseconds and can reduce the overhead of ROS2 IPC from hundreds of milliseconds to less than 1 millisecond. ![]() By using TZC, the overhead of IPC remains constant when the message size grows. ![]() ![]() We have integrated TZC with ROS and ROS2 and find that TZC can be easily combined with current open-source platforms. The part within shared memory is never copied or serialized during its lifetime. During message transmission, one part is transmitted through a socket and the other part uses shared memory. Our formulation can generate messages that can be divided into two parts. As a core component of TZC, we design a novel algorithm called partial serialization. ![]() We propose an efficient IPC technique called TZC (Towards Zero-Copy). Inter-process communication (IPC) is one of the core functions of modern robotics middleware. ![]()
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January 2023
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