Towards Rule-Based Dynamic Safety Monitoring for Mobile Robots

Marian Sorin Adam, Morten Larsen, Kjeld Jensen, Ulrik Pagh Schultz

Publikation: Kapitel i bog/rapport/konference-proceedingKonferencebidrag i proceedingsForskningpeer review

Abstrakt

Safety is a key challenge in robotics, in particular for mobile robots operating in an open and unpredictable environment. To address the safety challenge, various software-based approaches have been proposed, but none of them provide a clearly specified and isolated safety layer. In this paper, we propose that safety-critical concerns regarding the robot software be explicitly declared separately from the main program, in terms of externally observable properties of the software. Concretely, we use a Domain-Specific Language (DSL) to declaratively specify a set of safety-related rules that the software must obey, as well as corresponding corrective actions that trigger when rules are violated. Our prototype DSL is integrated with ROS, is shown to be capable of specifying safetyrelated constraints, and is experimentally demonstrated to enforce safety behaviour in existing robot software. We believe our approach could be extended to other fields to similarly simplify safety certification.

OriginalsprogEngelsk
TitelSimulation, Modeling, and Programming for Autonomous Robots : 4th International Conference, SIMPAR 2014, Bergamo, Italy, October 20-23, 2014. Proceedings
RedaktørerDavide Brugali, Jan F. Broenink, Torsten Kroeger, Bruce A. MacDonald
ForlagSpringer
Publikationsdato20. okt. 2014
Sider207-218
ISBN (Trykt)978-3-319-11899-4
ISBN (Elektronisk)978-3-319-11900-7
DOI
StatusUdgivet - 20. okt. 2014
Begivenhed4th International Conference on Simulation Modeling and Programming for Autonomous Robots - "Giovanni XXIII" Conference Center, Bergamo, Italien
Varighed: 20. okt. 201423. okt. 2014

Konference

Konference4th International Conference on Simulation Modeling and Programming for Autonomous Robots
Lokation"Giovanni XXIII" Conference Center
Land/OmrådeItalien
ByBergamo
Periode20/10/201423/10/2014
NavnLecture Notes in Computer Science
Vol/bind8810
ISSN0302-9743

Fingeraftryk

Dyk ned i forskningsemnerne om 'Towards Rule-Based Dynamic Safety Monitoring for Mobile Robots'. Sammen danner de et unikt fingeraftryk.

Citationsformater