Non-Expert Development M A T T B U N T I N G , Y E G E T A Z E L - PowerPoint PPT Presentation

A Safe Autonomous Vehicle Trajectory Domain Specific Modeling Language For Non-Expert Development M A T T B U N T I N G , Y E G E T A Z E L E K E , K E N N O N M C K E E V E R , J O N A T H A N S P R I N K L E U N I V E R S I T Y O F A R I Z O N A Bunting, SPLASH-2016, A Safe Autonomous Vehicle Trajectory Domain Specific Modeling Language for Non-Expert Development, Oct 30 th 2016

Domain  Allow elementary students to program AV  Programs consist of an ordered set of primitive motions, i.e. a path  No unsafe paths should be executed

Path Location

Domain Safety  Controllers from prior work used for motions  Paths should be structurally unambiguous  Paths should not drive outside of the grid  Paths should start and stop on user defined waypoints

Metamodel  WebGME

Model

Verification  Algorithms developed to check model behavior  Constraint violations displayed to the user

Demonstration

Implementation  Students worked in groups to design paths on paper  Groups transferred paths to the modeling language  Some groups needed no instruction  Students used verification feedback to correct models

Demo Day  Manually drove car to start location  Ran generated files without reviewing, known to be safe

Future Work  Automation  Implement reactive modeling and LTL verification  Examine properties of automatic dynamic constraint verification

Questions