Reference : PROACTIVE COMPUTING PARADIGM APPLIED TO THE PROGRAMMING OF ROBOTIC SYSTEMS
Dissertations and theses : Doctoral thesis
Engineering, computing & technology : Computer science
Computational Sciences
http://hdl.handle.net/10993/56069
PROACTIVE COMPUTING PARADIGM APPLIED TO THE PROGRAMMING OF ROBOTIC SYSTEMS
English
Chaychi, Samira mailto [University of Luxembourg > Faculty of Science, Technology and Medicine (FSTM) > Department of Computer Science (DCS) >]
29-Sep-2023
University of Luxembourg, ​​Luxembourg
DOCTEUR DE L’UNIVERSITÉ DU LUXEMBOURG EN INFORMATIQUE
109
Zampunieris, Denis mailto
Rothkugel, Steffen mailto
Theobald, Martin mailto
Colin, Jean-Noel mailto
Wagner, Eric mailto
[en] Proactive Computing ; Rule-based Systems ; Separation of Concerns ; ROS ; Robot Navigation System ; Robots
[en] This doctoral thesis is concerned with the development of advanced software for robotic systems, an area still in its experimental infancy, lacking essential methodologies from generic software engineering. A significant challenge within this domain is the absence of a well-established separation of concerns from the design phase. This deficiency is exemplified by Navigation 2, a realworld reference application for (semi-) autonomous robot journeys developed for and on top of the Robot Operating System (ROS): the project’s leading researchers encountered difficulties in maintaining and evolving their complex software, even for supposed-to-be straightforward new functions, leading to a halt in further development. In response, this thesis first presents an alternative design and implementation approach that not only rectifies the issues but also elevates the programming level of consistent robot behaviors.
By leveraging the proactive computing paradigm, our dedicated software engineering model provides programmers with enhanced code extension, reusability and maintenance capabilities. Furthermore, a key advantage of the model lies in its dynamic adaptability via on-the-fly strategy change in decision-making. Second, in order to provide a comprehensive evaluation
of the two systems, an exhaustive comparative study between Navigation 2 and the same application implemented along the lines of our model, is conducted.
This study covers thorough assessments at both compile-time and runtime. Software metrics such as coupling, lack of cohesion, complexity, and various size measures are employed to quantify and visualize code quality and efficiency attributes. The CodeMR software tool aids in visualizing these metrics, while runtime analysis involves monitoring CPU and memory
usage through the Datadog monitoring software. Preliminary findings indicate that our implementation either matches or surpasses Navigation 2’s performance while simultaneously enhancing code structure and simplifying modifications and extensions of the code base.
http://hdl.handle.net/10993/56069

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