Location via proxy:   [ UP ]  
[Report a bug]   [Manage cookies]                
Skip to main content
Springer Nature Link
Log in

Formal Modeling and Simulation of Collaborative Intelligent Robots

  • Conference paper
  • First Online:
Advances in Service-Oriented and Cloud Computing (ESOCC 2020)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 1360))

Included in the following conference series:

Abstract

Internet of Things consists of several interconnected physical devices through the internet, whereas fog and cloud technologies are hosting tasks responsible for device controlling and management. Such an environment is significantly scalable, and its capacity to handle a large volume of data is proven. For this reason, we propose an IoT architecture featuring necessary technologies to cope with robot orchestration and monitoring. At the fog level, an IoT platform is deployed with all required features to monitor robots remotely. The modeled system in BIP has been wholly instantiated in a real infrastructure after formally checking and simulation against requirements by applying classical code simulation and statistical model checking.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Subscribe and save

Springer+ Basic
$34.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 39.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 54.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Similar content being viewed by others

Notes

  1. 1.

    Robotnik is a company specialized in robot product development and commercialization (mobile robots, robot arms, robotic hands, and humanoids).

  2. 2.

    https://www-verimag.imag.fr/BIP-SMC-A-Statistical-Model-Checking.html?lang=en.

References

  1. Aazam, M., Huh, E.: Fog computing and smart gateway based communication for cloud of things, pp. 464–470 (2014)

    Google Scholar 

  2. Agha, G., Palmskog, K.: A survey of statistical model checking. ACM Trans. Model. Comput. Simul. 28(1), 6:1–6:39 (2018). https://doi.org/10.1145/3158668

    Article  MathSciNet  Google Scholar 

  3. Baouya, A.: Code generator - JSON files (2020). https://github.com/hakimuga/Resulted_Robots_Orchestration_Bundles

  4. Basu, A.: Rigorous component-based system design using the BIP framework. IEEE Softw. 28(3), 41–48 (2011)

    Article  Google Scholar 

  5. Bauer, M., et al.: IoT reference model. In: Bassi, A., et al. (eds.) Enabling Things to Talk, pp. 113–162. Springer, Heidelberg (2013). https://doi.org/10.1007/978-3-642-40403-0_7

    Chapter  Google Scholar 

  6. Ben Hassine, T., Khayati, O., Ben Ghezala, H.: An IoT domain meta-model and an approach to software development of IoT solutions. In: 2017 International Conference on Internet of Things, Embedded Systems and Communications (IINTEC), pp. 32–37 (2017)

    Google Scholar 

  7. Botta, A., de Donato, W., Persico, V., Pescapé, A.: Integration of cloud computing and internet of things: a survey. Future Gener. Comput. Syst. 56, 684–700 (2016)

    Article  Google Scholar 

  8. Chowdhary, R.R., Chattopadhyay, M.K., Kamal, R.: Comparative study of orchestrated, centralised and decentralised approaches for orchestrator based task allocation and collision avoidance using network controlled robots. J. King Saud Univ. Comput. Inf. Sci. (2018)

    Google Scholar 

  9. Correll, N., Bachrach, J., Vickery, D., Rus, D.: Ad-hoc wireless network coverage with networked robots that cannot localize. In: Proceedings of the 2009 IEEE International Conference on Robotics and Automation. ICRA’09, pp. 3554–3561. IEEE Press, Piscataway, NJ, USA (2009)

    Google Scholar 

  10. da Cruz, M.A.A., Rodrigues, J.J.P.C., Al-Muhtadi, J., Korotaev, V.V., de Albuquerque, V.H.C.: A reference model for internet of things middleware. IEEE Internet Things J. 5(2), 871–883 (2018)

    Article  Google Scholar 

  11. Díaz, M., Martín, C., Rubio, B.: State-of-the-art, challenges, and open issues in the integration of internet of things and cloud computing. J. Netw. Comput. Appl. 67, 99–117 (2016)

    Article  Google Scholar 

  12. Gandrille, E.: CEA LIST: sensinact gateway. Accessed on Jan 17 2020 (2019). https://wiki.eclipse.org/SensiNact

  13. Gelenbe, E., Domanska, J., Czàchorski, T., Drosou, A., Tzovaras, D.: Security for internet of things: The seriot project. In: 2018 International Symposium on Networks, Computers and Communications (ISNCC), pp. 1–5 (2018). https://doi.org/10.1109/ISNCC.2018.8531004

  14. Gomes, S., et al.: Embedded real-time speed limit sign recognition using image processing and machine learning techniques. Neural Comput. Appl. 28, 573–584 (2017)

    Article  Google Scholar 

  15. Hérault, T., Lassaigne, R., Magniette, F., Peyronnet, S.: Approximate probabilistic model checking. In: Steffen, B., Levi, G. (eds.) VMCAI 2004. LNCS, vol. 2937, pp. 73–84. Springer, Heidelberg (2004). https://doi.org/10.1007/978-3-540-24622-0_8

    Chapter  MATH  Google Scholar 

  16. International Telecommunication Union: Y.2060: Overview of the internet of things. Recommendation y.4000/y.2060. Accessed on Jan 17 2020 (2012)

    Google Scholar 

  17. Li, X., Liu, Y., Kang, R., Xiao, L.: Service reliability modeling and evaluation of active-active cloud data center based on the it infrastructure. Microelectron. Reliab. 75, 271–282 (2017)

    Article  Google Scholar 

  18. Maiti, P., Apat, H.K., Sahoo, B., Turuk, A.K.: An effective approach of latency-aware fog smart gateways deployment for IoT services. Internet of Things 8, 100091 (2019)

    Article  Google Scholar 

  19. MicrosStrain: Accessed Jan 17 2020. https://www.microstrain.com/

  20. Nouri, A., Mediouni, B.L., Bozga, M., Combaz, J., Bensalem, S., Legay, A.: Performance evaluation of stochastic real-time systems with the SBIP framework. Int. J. Crit. Comput. Based Syst. 1–33 (2018)

    Google Scholar 

  21. OpenIoT. Accessed on Jan 17 2020.https://github.com/OpenIotOrg/openiot

  22. Petković, T., Puljiz, D., Marković, I., Hein, B.: Human intention estimation based on hidden Markov model motion validation for safe flexible robotized warehouses. Robot. Comput. Integr. Manuf. 57, 182–196 (2019)

    Article  Google Scholar 

  23. Raskaliyev, A., Patel, S., Sobh, T.: A dynamic model for GPS based attitude determination and testing using a serial robotic manipulator. J. Adv. Res. 8(4), 333–341 (2017)

    Article  Google Scholar 

  24. ROS.org: ROS - rviz (2012). http://wiki.ros.org/rviz

  25. ROS.org: ROS - stage (2012). http://wiki.ros.org/stage

  26. Sensorcloud: Accessed on Jan 17 2020. http://www.sensorcloud.com

  27. Simic, V., Stojanovic, B., Ivanovic, M.: Optimizing the performance of optimization in the cloud environment-an intelligent auto-scaling approach. Futur. Gener. Comput. Syst. 101, 909–920 (2019)

    Article  Google Scholar 

  28. thethings.io: Accessed on Jan 17 2020. https://thethings.io/

  29. Xively.: Accessed on Jan 17 2020. https://xively.com/

  30. Younes, H.L.S., Simmons, R.G.: Probabilistic verification of discrete event systems using acceptance sampling. In: Brinksma, E., Larsen, K.G. (eds.) Computer Aided Verification. LNCS, pp. 223–235. Springer, Heidelberg (2002). https://doi.org/10.1007/3-540-45657-0_17

    Chapter  MATH  Google Scholar 

  31. Zhou, Y., Hu, H., Liu, Y., Lin, S.W., Ding, Z.: A distributed approach to robust control of multi-robot systems. Automatica 98, 1–13 (2018)

    Article  MathSciNet  Google Scholar 

Download references

Acknowledgement

The research leading to the presented results has been undertaken within the research profile Brain-IoT - model-Based fRamework for dependable sensing and Actuation in INtelligent decentralized IoT systems, funded by the European Union, grant number: 780089.

Author information

Authors and Affiliations

  1. Verimag Lab, CNRS, University Grenoble Alpes, Grenoble, France

    Abdelhakim Baouya, Salim Chehida, Saddek Bensalem & Marius Bozga

  2. Robotnik Automation S.L.L, Valencia, Spain

    Miquel Cantero & Marta Millet

Authors
  1. Abdelhakim Baouya
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Salim Chehida
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Miquel Cantero
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Marta Millet
    View author publications

    You can also search for this author in PubMed Google Scholar

  5. Saddek Bensalem
    View author publications

    You can also search for this author in PubMed Google Scholar

  6. Marius Bozga
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Abdelhakim Baouya .

Editor information

Editors and Affiliations

  1. Karlsruhe University of Applied Sciences, Karlsruhe, Germany

    Christian Zirpins

  2. CITY College, Thessaloniki, Greece

    Iraklis Paraskakis

  3. University of Groningen, Groningen, The Netherlands

    Vasilios Andrikopoulos

  4. University of Applied Sciences Lübeck, Lübeck, Germany

    Nane Kratzke

  5. Free University of Bolzano, Bolzano, Italy

    Claus Pahl

  6. Free University of Bolzano, Bolzano, Italy

    Nabil El Ioini

  7. Cyprus University of Technology, Limassol, Cyprus

    Andreas S. Andreou

  8. Unicorn University, Prague, Czech Republic

    George Feuerlicht

  9. University of Hamburg, Hamburg, Germany

    Winfried Lamersdorf

  10. University of Cádiz, Cádiz, Spain

    Guadalupe Ortiz

  11. Tilburg University, Tilburg, The Netherlands

    Willem-Jan Van den Heuvel

  12. University of Pisa, Pisa, Italy

    Jacopo Soldani

  13. University of Messina, Messina, Italy

    Massimo Villari

  14. Imperial College London, London, UK

    Giuliano Casale

  15. Politecnico di Milano, Milano, Italy

    Pierluigi Plebani

Rights and permissions

Reprints and permissions

Copyright information

© 2021 Springer Nature Switzerland AG

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Baouya, A., Chehida, S., Cantero, M., Millet, M., Bensalem, S., Bozga, M. (2021). Formal Modeling and Simulation of Collaborative Intelligent Robots. In: Zirpins, C., et al. Advances in Service-Oriented and Cloud Computing. ESOCC 2020. Communications in Computer and Information Science, vol 1360. Springer, Cham. https://doi.org/10.1007/978-3-030-71906-7_4

Download citation

  • DOI: https://doi.org/10.1007/978-3-030-71906-7_4

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-71905-0

  • Online ISBN: 978-3-030-71906-7

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation