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 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.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Rule-based Dynamic Safety Monitoring for Mobile Robots


    Beteiligte:
    Sorin, Adam (Autor:in) / Morten, Larsen (Autor:in) / Kjeld, Jensen (Autor:in) / Ulrik Pagh Schultz (Autor:in)

    Erscheinungsdatum :

    01.01.2016


    Anmerkungen:

    doi:10.6092/JOSER_2016_07_01_p120



    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Navigation of Multiple Mobile Robots using Rule-based-Neuro-Fuzzy Technique

    Saroj Kumar Pradhan / Dayal Ramakrushna Parhi / Anup Kumar Panda | BASE | 2007

    Freier Zugriff

    Mobile Robots with Dynamic Obstacle Avoidance

    Ali, Maram / Das, Saptarshi | IEEE | 2023


    Dynamic Omnidirectional Vision For Mobile Robots

    Cao, Zuo L. / Oh, Sung J. / Hall, Ernest L. | SPIE | 1985


    Dynamic modeling of wheeled mobile robots

    Boyden, Demick | TIBKAT | 1993


    Performance optimisation of mobile robots in dynamic environments

    Zhu, Wenkai. / 朱文凯. | BASE

    Freier Zugriff