https://roboticpatterns.com/tags/experiment/ Recent content in experiment on Specification Patterns for Robotic Missions Hugo -- gohugo.io en-us Claudio Menghi, Christos Tsigkanos, Thorsten Berger, Patrizio Pelliccione, Carlo Ghezzi Thu, 08 Feb 2018 17:51:49 +0100 https://roboticpatterns.com/experiments/exp1/ Thu, 08 Feb 2018 17:51:49 +0100 https://roboticpatterns.com/experiments/exp1/ Description We checked how the pattern catalog supports the formulation of mission requirements (and the generation of mission specifications) in real-world robotic scenarios. To this end, we defined five scenarios in collaboration with our industrial partners. SC Description Patterns SC1 A robot is deployed within a supermarket and reports about the absence of sold items within a set of locations (i.e. l1, l2, l3, and l4). https://roboticpatterns.com/experiments/exp2/ Thu, 08 Feb 2018 17:51:49 +0100 https://roboticpatterns.com/experiments/exp2/ Description We collected mission requirements in natural language from available requirements produced from Spectra and LTLMoP. We checked how the pattern catalog may have supported developers in the definition of the mission requirements. In the case of Spectra, we use the Spectra files to extract mission requirements for robotic systems. In total, 11 robotic applications were considered. Note that mission requirements are realistic since they were finally executed with real robots. https://roboticpatterns.com/experiments/exp3/ Thu, 08 Feb 2018 17:51:49 +0100 https://roboticpatterns.com/experiments/exp3/ Description We analyzed the mission specifications contained in the Spectra examples collected in Exp2. We collected 1216 distinct LTL mission specifications and we analyzed each of these specifications. We verified whether it is possible to obtain the mission specifications starting from the patterns, by performing the following steps. For each property we automatically checked whether it was an instance of a mission specification pattern or a simple combination of mission specification patterns. https://roboticpatterns.com/experiments/exp4/ Thu, 08 Feb 2018 17:51:49 +0100 https://roboticpatterns.com/experiments/exp4/ Description We generated the LTL specifications of the considered mission requirements. We (i) negated the LTL specification; (ii) encoded the specification and the model of the scenario in NuSMV; (iii) used NuSMV to check whether the models contained a path that satisfied the mission specification (violates its negation). If a plan was present we used Simbad to simulate the robot executing the plan. We verified whether the results where correct: when we expected a plan to not be present in the given model, NuSMV was not able to compute it, and, when a plan was expected to be present it was computed by NuSMV. https://roboticpatterns.com/experiments/exp5/ Thu, 08 Feb 2018 17:51:49 +0100 https://roboticpatterns.com/experiments/exp5/ Description We generated LTL and CTL specifications for the considered mission requirements. We (i) encoded the LTL and CTL specifications and the model of the scenario in NuSMV; (iii) we used NuSMV to check whether the verification of the specifications returned the same results. Mission requirements were generally not satisfied, since for being satisfied they have to hold on all the paths of the models. NuSMV always returned the same results for LTL and CTL specifications confirming the correctness of CTL specifications. https://roboticpatterns.com/experiments/exp6/ Thu, 08 Feb 2018 17:51:49 +0100 https://roboticpatterns.com/experiments/exp6/ Description We investigated why in several cases the mission requirement was always not satisfied. In these cases we relaxed the mission requirements, by removing certain patterns. We executed the same steps of Exp4. Results confirmed that by relaxing the mission requirements there were cases in which the mission requirement was actually satisfied. This is a further confirmation that the mission specifications are correct. Reproduction Kit To replicate this experiment run java -jar Exp6.