Michael De Rosa, Seth Copen Goldstein, Peter Lee, Jason D. Campbell, and Padmanabhan Pillai
@article{mderosa-ijrr-2008,
author = {De~Rosa, Michael and Goldstein, Seth Copen and Lee, Peter
and Campbell, Jason D. and Pillai, Padmanabhan},
journal = {International Journal of Robotics Research},
keywords = {Debugging Distributed Systems},
month = {Mar},
note = {Special Issue on Modular Robotics},
url = {http://www.cs.cmu.edu/~claytronics/papers/mderosa-ijrr-2008.pdf},
venue = {International Journal of Robotics Research},
number = {3},
title = {Distributed Watchpoints: Debugging Large Modular Robotic
Systems},
abstract = {Distributed systems frequently exhibit properties of
interest which span multiple entities. These properties cannot
easily be detected from any single entity, but can be readily be
detected by combining the knowledge of multiple entities. Testing
for distributed properties is especially important in debugging
or verifying software for modular robots. We have developed a
technique we call distributed watchpoint triggers which can
efficiently recognize distributed conditions. Our watchpoint
description language can handle a variety of temporal, spatial,
and logical properties spanning multiple robots. This paper
presents the specification language, describes the distributed
online mechanism for detecting distributed conditions in a
running system, and evaluates the performance of our
implementation.},
volume = {27},
also = {Distributed Watchpoints: Debugging Large Multi-Robot
Systems, (ICRA07)},
year = {2008},
}