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EzSkiROS: enhancing robot skill composition with embedded DSL for early error detection.

Momina Rizwan1, Christoph Reichenbach1, Ricardo Caldas2

  • 1Department of Computer Science, Faculty of Engineering (LTH), Lund University, Lund, Sweden.

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|January 20, 2025
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Summary
This summary is machine-generated.

This study introduces an embedded domain-specific language (DSL) approach to detect bugs early in robot software development. It enhances safety and maintainability by catching errors before runtime, using design patterns in Python.

Keywords:
behavior treesdomain-specific language design patternsembedded domain-specific languagesrobot skillsskill-based control platforms

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Area of Science:

  • Robotics Software Engineering
  • Software Verification and Validation

Background:

  • Developing general-purpose robot software components often involves incomplete context knowledge, hindering static bug detection.
  • Runtime error detection in robotics is costly and can pose safety risks.

Purpose of the Study:

  • To propose an approach for early bug detection in robot software components with minimal developer effort.
  • To leverage embedded domain-specific language (DSL) techniques for pre-launch error checking.

Main Methods:

  • Utilized embedded DSL techniques to enforce early checks in robot programming.
  • Described and applied design patterns for DSL embedding in Python.
  • Conducted case studies on the SkiROS2 open-source robot skill platform at high-level skill descriptions and lower-level execution flows.

Main Results:

  • Developed EzSkiROS, a DSL enabling bug detection in high-level robot capability contracts and lower-level implementation code (e.g., behavior trees).
  • Performed consistency checks during code deployment, significantly earlier than runtime.
  • Demonstrated bug detection in both skill contracts and behavior tree implementations.

Conclusions:

  • The DSL-based approach effectively detects bugs early in the development cycle, enhancing robot software safety.
  • The method improves code maintainability by identifying potential issues before runtime execution.
  • Embedded DSLs offer a practical solution for verifying robot software components in their intended contexts.