SURF 2020: Hardware Implementation of Contract-Based Design for Automated Valet Parking System

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Project Description

Due to the increasing complexity of cyber-physical systems, a modular approach to the design of these systems is necessary, while also guaranteeing correct and reliable behavior. Hybrid systems with multiple layers of abstraction need to ensure the correct implementation and composition of the components. This is guaranteed by contracts between the layers (vertical) and the components (horizontal) [3]. A system specification can be defined in terms of contracts using temporal logic as specification language [2]. Systems can be designed according to a contract-based methodology as proposed in [1]. The example under consideration is an automatic valet parking, which shall be verified in an experimental setup. The focus of this project is the vertical contract architecture which define the refinement of the specification including pre-defined failure scenarios. The study objective is to set up the parking lot infrastructure with multiple agents and verify the control strategy.

The project requires some familiarity with Python or enough programming experience to learn it in a short time. Experience in experimental robotics and ROS is an advantage.



[1] Albert Benveniste, Benoit Caillaud, Dejan Nickovic, Roberto Passerone, Jean-Baptiste Raclet, et al.. Contracts for System Design. [Research Report] RR-8147, INRIA. 2012, pp.65. 〈hal-00757488〉

[2] P. Nuzzo, H. Xu, N. Ozay, J. B. Finn, A. L. Sangiovanni-Vincentelli, R. M. Murray, A. Donze, S. A. Seshia. A Contract-Based Methodology for Aircraft Electric Power System Design. IEEE Access, 2014. DOI 10.1109/ACCESS.2013.2295764

[3] Alberto Sangiovanni-Vincentelli, Werner Damm, Roberto Passerone, Taming Dr. Frankenstein: Contract-Based Design for Cyber-Physical Systems, European Journal of Control (2012)3:217–238