The MAESTRO language and its environment: specification, validation and control of robotic missions

摘要

We present a generic and yet efficient mission programming method for robotic systems. The MAESTRO programming language, directed towards the end-user, is defined to be integrated into various existing control architectures. Its development is based on the use of formal methods to fully benefit from their mathematical foundations. Subsequently, programs written in MAESTRO can be proven to be in conformity with their specification before they are executed. The programming of a representative underwater mission illustrates the features of MAESTRO and of its companion environment for specification, verification, simulation and control of robotic missions.