Resumé
Advanced cyber-physical systems such as mobile, networked robots are increasingly finding use in everyday society. A critical aspect of mobile robotics is the ability to react to a dynamically changing environment, which imposes significant requirements on the robot perception system. The perception system is key to maintaining safe navigation and operation for the robot and is often considered a safety-critical aspect of the system as a whole. To allow the system to operate in a public area the perception system thus has to be certified. The key issue that we address is how to have safety-compliant systems while keeping implementation transparency high and complexity low. In this paper we present an evaluation of different methods for modelling combinations of simple explicit computer vision rules designed to increase the trustworthiness of the perception system. We utilise the best-performing method, focusing on keeping the models of the perception pipeline transparent and understandable. We find that it is possible to improve the safety of the system with some performance cost, depending on the acceptable risk level.
| Originalsprog | Engelsk |
|---|---|
| Titel | Cyber Physical Systems. Design, Modeling, and Evaluation : 7th International Workshop, CyPhy 2017, Revised Selected Papers |
| Redaktører | Roger Chamberlain, Walid Taha, Martin Törngren |
| Forlag | Springer VS |
| Publikationsdato | 13. apr. 2019 |
| Sider | 43-60 |
| ISBN (Trykt) | 9783030179090 |
| ISBN (Elektronisk) | 978-3-030-17910-6 |
| DOI | |
| Status | Udgivet - 13. apr. 2019 |
| Begivenhed | 7th International Workshop on Design, Modeling, and Evaluation of Cyber Physical Systems, CyPhy 2017 - Seoul, Sydkorea Varighed: 15. okt. 2017 → 20. okt. 2017 |
Konference
| Konference | 7th International Workshop on Design, Modeling, and Evaluation of Cyber Physical Systems, CyPhy 2017 |
|---|---|
| Land | Sydkorea |
| By | Seoul |
| Periode | 15/10/2017 → 20/10/2017 |
| Navn | Lecture Notes in Computer Science |
|---|---|
| Vol/bind | 11267 |
| ISSN | 0302-9743 |
Fingeraftryk
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Increasing safety by combining multiple declarative rules in robotic perception systems. / Ingibergsson, Johann Thor Mogensen; Kraft, Dirk; Schultz, Ulrik Pagh.
Cyber Physical Systems. Design, Modeling, and Evaluation: 7th International Workshop, CyPhy 2017, Revised Selected Papers. red. / Roger Chamberlain; Walid Taha; Martin Törngren. Springer VS, 2019. s. 43-60 (Lecture Notes in Computer Science, Bind 11267).Publikation: Bidrag til bog/antologi/rapport/konference-proceeding › Konferencebidrag i proceedings › Forskning › peer review
TY - GEN
T1 - Increasing safety by combining multiple declarative rules in robotic perception systems
AU - Ingibergsson, Johann Thor Mogensen
AU - Kraft, Dirk
AU - Schultz, Ulrik Pagh
PY - 2019/4/13
Y1 - 2019/4/13
N2 - Advanced cyber-physical systems such as mobile, networked robots are increasingly finding use in everyday society. A critical aspect of mobile robotics is the ability to react to a dynamically changing environment, which imposes significant requirements on the robot perception system. The perception system is key to maintaining safe navigation and operation for the robot and is often considered a safety-critical aspect of the system as a whole. To allow the system to operate in a public area the perception system thus has to be certified. The key issue that we address is how to have safety-compliant systems while keeping implementation transparency high and complexity low. In this paper we present an evaluation of different methods for modelling combinations of simple explicit computer vision rules designed to increase the trustworthiness of the perception system. We utilise the best-performing method, focusing on keeping the models of the perception pipeline transparent and understandable. We find that it is possible to improve the safety of the system with some performance cost, depending on the acceptable risk level.
AB - Advanced cyber-physical systems such as mobile, networked robots are increasingly finding use in everyday society. A critical aspect of mobile robotics is the ability to react to a dynamically changing environment, which imposes significant requirements on the robot perception system. The perception system is key to maintaining safe navigation and operation for the robot and is often considered a safety-critical aspect of the system as a whole. To allow the system to operate in a public area the perception system thus has to be certified. The key issue that we address is how to have safety-compliant systems while keeping implementation transparency high and complexity low. In this paper we present an evaluation of different methods for modelling combinations of simple explicit computer vision rules designed to increase the trustworthiness of the perception system. We utilise the best-performing method, focusing on keeping the models of the perception pipeline transparent and understandable. We find that it is possible to improve the safety of the system with some performance cost, depending on the acceptable risk level.
KW - Computer vision
KW - Functional safety
KW - Robotics
KW - Safety
U2 - 10.1007/978-3-030-17910-6_4
DO - 10.1007/978-3-030-17910-6_4
M3 - Article in proceedings
SN - 9783030179090
SP - 43
EP - 60
BT - Cyber Physical Systems. Design, Modeling, and Evaluation
A2 - Chamberlain, Roger
A2 - Taha, Walid
A2 - Törngren, Martin
PB - Springer VS
ER -