This entry documents the development of a model of a Firefighting UAV. The case study description document describes the case study in further detail. A video of the robot in action can be seen below:
The models are available in the Verifiability Node repository on GitHub at: https://github.com/hlsa/Verifiability-Node/tree/main/Models/Firefighting%20Drone/RoboSIM%20Model. Direct links for the RoboChart and RoboSim p-models are provided below.
This is available from the TAS repository at: https://github.com/hlsa/Verifiability-Node/tree/main/Models/Firefighting%20Drone/RoboSIM%20Model/FireFightingUAV-pd/software
This is available from the TAS repository at: https://github.com/hlsa/Verifiability-Node/tree/main/Models/Firefighting%20Drone/RoboSIM%20Model/FireFightingUAV-pd/physical
The SDF file can be downloaded here
Zip file with RoboWorld document for the firefighting UAV and lexicon files for the RoboWorld plugin
## ARENA ASSUMPTIONS ##
The arena is three-dimensional.
The width of the arena is 50.0 m.
The depth of the arena is 60.0 m.
The arena has a floor.
The gradient of the ground is 0.0.
The arena has one building.
The height of the arena is the height of the building plus at least 1.0 m.
The arena has fires.
The arena has a home region.
The speed of the wind is less than 8.0 m/s.
It is not raining.
## ROBOT ASSUMPTIONS ##
The robot is a point mass.
Initially the robot is in the home region.
The robot has a tank of water.
The tank of water is either full or empty.
The robot has a searchPattern.
The searchPattern is a sequence of positions.
## ELEMENT ASSUMPTIONS ##
The building is a box.
The height of the building is not less than 6.0 m.
The height of the building is not greater than 20.0 m.
The width of the building is not less than 10.0 m.
The width of the building is not greater than 30.0 m.
The depth of the building is not less than 10.0 m.
The depth of the building is not greater than 40.0 m.
A fire can occur on the floor.
A fire can occur on the building from a height of 5.0 m to 18.0 m.
The width of the fires is 36.0 mm.
The height of the fires is 60.0 mm.
The depth of the fires is 0.0 mm.
The fires have a status.
The statuses of the fires are either burning or extinguished.
The home has an x-width of 1.0 m and a y-width of 1.0 m.
The home is on the ground.
## MAPPING OF INPUT EVENTS ##
When the distance from the robot to a fire is not greater than 0.5 m, the event fireDetected occurs.
When the distance from the robot to a fire is greater than 0.5 m, the event noFire occurs.
When the occurrence of the event spray was 3 minutes before or the occurrence of the operation takeOff was 20 minutes before, the event critical occurs.
When the z-position of the robot is 0.0, the event landed occurs.
## MAPPING OF OUTPUT EVENTS ##
When the event spray occurs, if the tank of water is full, the effect is defined by a diagram where one time unit is 1.0 s.
## MAPPING OF OPERATIONS ##
When the operation takeOff is called, the velocity of the robot is set to 1.0 m/s upwards.
When the operation goToBuilding is called, the velocity of the robot is set to 1.0 m/s towards the building.
When the operation goHome is called, the velocity of the robot is set to 1.0 m/s towards the home region.
The operation searchFire() is defined by a diagram where one time unit is 1.0 s.
## MAPPING OF VARIABLES ##
Department of Computer Science
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