ROS上で動作する実行時安全保証フレームワークSOTER
SOTER on ROS: A Run-Time Assurance Framework on the Robot Operating System
分散移動ロボットシステムの安全性を実行時に保証するフレームワークSOTERをROS上に実装し、マルチロボット監視の事例で有効性を示した論文。
著者: Sumukh Shivakumar, Hazem Torfah, Ankush Desai, Sanjit A. Seshia
分類: cs.RO, cs.AI, cs.PL
原文アブストラクト
We present an implementation of SOTER, a run-time assurance framework for building safe distributed mobile robotic (DMR) systems, on top of the Robot Operating System (ROS). The safety of DMR systems cannot always be guaranteed at design time, especially when complex, off-the-shelf components are used that cannot be verified easily. SOTER addresses this by providing a language-based approach for run-time assurance for DMR systems. SOTER implements the reactive robotic software using the language P, a domain-specific language designed for implementing asynchronous event-driven systems, along with an integrated run-time assurance system that allows programmers to use unfortified components but still provide safety guarantees. We describe an implementation of SOTER for ROS and demonstrate its efficacy using a multi-robot surveillance case study, with multiple run-time assurance modules. Through rigorous simulation, we show that SOTER enabled systems ensure safety, even when using unknown and untrusted components.
