Rule-based Dynamic Safety Monitoring for Mobile Robots

Marian Sorin Adam, Morten Larsen (Member of author group), Kjeld Jensen (Member of author group), Ulrik Pagh Schultz

Research output: Contribution to journalJournal articleResearchpeer-review


—Safety is a key challenge in robotics, in particular for mobile robots operating in an open and unpredictable environment.
Safety certification is desired for commercial robots, but no existing approaches for addressing the safety challenge provide a clearly
specified and isolated safety layer, defined in an easily understandable way for facilitating safety certification. In this paper, we propose
that functional-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 DSL, integrated with ROS, is shown to be capable of specifying safety-related 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.
Original languageEnglish
JournalJournal of Software Engineering for Robotics
Issue number1
Pages (from-to)120-141
Publication statusPublished - Jul 2016


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