arXivDaily arXiv每日学术速递 周一至周五更新
arXiv 2012.07196cs.SEcs.CRcs.RO
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机器人操作系统软件质量评估

Software Quality Assessment for Robot Operating System

University of Nebraska-Lincoln(内布拉斯加大学林肯分校)

Mohannad Alhanahnah

摘要:

机器人操作系统(ROS)广泛应用于学术界和工业界,并且重要的是在安全关键的机器人系统中被利用。ROS软件的质量会影响机器人系统的安全性和安全性;因此,必须保证可靠性和质量。源代码静态分析是形式化地进行软件验证的一种重要方法。我们在本文中解决两个问题:(1)进行系统的文献综述研究,以提供一个完整的图片现有的方法,分析不同方面的ROS软件,(2)进行实证研究,以评估软件属性,可以影响ROS的功能。我们利用PMD 1,一个现成的静态分析工具,进行我们的实证研究,在一组使用Java实现的ROS存储库。调查分析显示,在研究机构的一个显着的缺点,缺乏量身定制的分析机制,以评估ROS 2代码,并显示,大多数的研究工作都集中在ROS 1。我们的实证研究表明,ROS 2的Java代码没有受到严重的问题,大多数检测到的警报是代码风格的问题。

英文摘要:

Robot Operating System (ROS) is widely used in academia and industry, and importantly is leveraged in safety-critical robotic systems. The quality of ROS software can affect the safety and security properties of robotics systems; therefore, reliability and quality are imperative to guarantee. Source code static analysis is a key approach to formally perform software verification. We address two concerns in this paper: (1) conducting a systematic literature review study to provide a complete picture of the existing methods that analyze different aspects of ROS software, (2) performing empirical study to evaluate software properties that can influence the functionality of ROS. We leverage PMD1, an off-the-shelf static analysis tool, to conduct our empirical study over a set of ROS repositories implemented using Java. The survey analysis shows a significant shortcoming in the body of research by the lack of tailored analysis mechanisms for assessing ROS2 code and reveals that the majority of research efforts are centered around ROS1. Our empirical study shows that the Java code of ROS2 does not suffer from serious issues and the majority of the detected alerts are code style issues.

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。

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