Tue 27 Oct 2015 09:25 - 09:40 at Brighton 4 - Session 1

Autonomous vehicles and other robotics systems are frequently implemented using a general-purpose programming language such as C++, and prototyped using domain-specific tool such as MATLAB/Simulink, and LabVIEW. Such an approach is not efficient when programming primitive motions of autonomous vehicles when considering important safety constraints, and when promoting the broad access to robotic systems through involvement of students and aspiring students who do not know conventional low-level programming langauges. Aside from general-purpose programming languages, there are languages that are specifically designed to model autonomous vehicles, such as SHIFT, but these languages are typically for simulation purposes only. This experience report discusses the creation of a domain-specific language that allows for faster programming of autonomous vehicles while ensuring valid constraints will be met. This language generates code for multiple controllers that will operate alternatively to allow for fast and effective programming of vehicle trajectories using primitive motions. In addition to improving coding efficiency and reducing the number of programming errors, the language adds a level of abstraction so that autonomous vehicle behaviors may be generated by people with little knowledge of low-level details of the car’s operation. Furthermore, this language ensures safe operation of the vehicle by enforcing a set of user-definable constraints on the output path. A main set of constraints that are applied to every generated path have been specifically chosen to enforce safe switching between controllers and prevent the planning of unsafe actions. A novel application of the language is its ability to permit users to add specific constraints for a particular path; these constraints are checked for validity after the main constraint check is performed.

Tue 27 Oct

Displayed time zone: Eastern Time (US & Canada) change

08:30 - 10:00
Session 1DSM at Brighton 4
08:30
20m
Day opening
Introduction
DSM

08:50
15m
Talk
Domain Specific Modelling for Clinical Research
DSM
Jim Davies University of Oxford, Jeremy Gibbons University of Oxford, UK, Adam Milward University of Oxford, David Milward , Seyyed Shah University of Oxford, Monika Solanki University of Oxford, James Welch University of Oxford
09:05
20m
Talk
CHARIOT: A Domain Specific Language for Extensible Cyber-Physical Systems
DSM
Subhav Pradhan Vanderbilt University, Abhishek Dubey Vanderbilt University, Aniruddha Gokhale Vanderbilt University, Martin Lehofer Siemens Corporate Technology
09:25
15m
Talk
Experience Report: Constraint-Based Modeling of Autonomous Vehicle Trajectories
DSM
Kennon McKeever The University of Arizona, Yegeta Zeleke University of California Santa Cruz, Matt Bunting The University of Arizona, Jonathan Sprinkle University of Arizona
09:40
20m
Talk
Adaptable Symbol Table Management by Meta Modeling and Generation of Symbol Table Infrastructures
DSM
Katrin Hölldobler RWTH Aachen University, Pedram Mir Seyed Nazari RWTH Aachen University, Bernhard Rumpe RWTH Aachen University, Germany