ROS过程中时间的测试、验证和改进
Testing, Verification and Improvements of Timeliness in ROS processes
摘要：
本文讨论了在机器人操作系统（ROS）中使用计算时间可行性的形式化验证来提高机器人响应时间的问题。为了验证机器人在不确定信号处理时间下的实时的行为，提出了基于概率定时程序（PTPs）的ROS控制系统中数据流的时间性形式化验证方法.为了计算在一定的时间限制下成功的概率，并证明我们的方法的强度，一个案例研究中实施的机器人代理的操作时间验证使用PRISM模型检查器，它指向可能的增强机器人代理的操作。
英文摘要：
This paper addresses the problem of improving response times of robots implemented in the Robotic Operating System (ROS) using formal verification of computational-time feasibility. In order to verify the real time behaviour of a robot under uncertain signal processing times, methods of formal verification of timeliness properties are proposed for data flows in a ROS-based control system using Probabilistic Timed Programs (PTPs). To calculate the probability of success under certain time limits, and to demonstrate the strength of our approach, a case study is implemented for a robotic agent in terms of operational times verification using the PRISM model checker, which points to possible enhancements to the operation of the robotic agent.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
