A Study on the Application of the Software Framework MASSiVE in KAIST’s Intelligent Sweet Home System

Abstract

MASSiVE (Multi – Layer Architecture for Semi-Autonomous Service Robots with Verified Task Execution) is a software framework that provides an infrastructure concept for distributed sensor and actuator systems such as service robots, operating in environments that are equipped with smart components. Besides this modular and extensible architecture, a principle of task knowledge specification and verification with processstructures is included in MASSiVE that is able to guarantee task planning in real time along with verified and thus robust system runtime behavior. In this paper the framework is presented briefly. The focus of this contribution is to study how to apply the MASSiVE principles for a typical sample application scenario in KAIST’s Intelligent Sweet Home System. First, the required software components have to be derived, and second the exemplary application of MASSiVE’s specification and verification methods and tools is demonstrated. The flexibility and the structuring capabilities of the MASSiVE framework as well as the impact of fast system deployment will be worked out.