Towards rule-based dynamic safety monitoring for mobile robots

被引：21

作者：

Adam, Sorin ^{[1
]}

Larsen, Morten ^{[1
]}

Jensen, Kjeld ^{[2
]}

Schultz, Ulrik Pagh ^{[2
]}

机构：

[1] Conpleks ApS, Struer

[2] University of Southern Denmark, Odense

来源：

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) | 2014年 / 8810卷

关键词：

Mobile robots - Problem oriented languages - Digital subscriber lines;

D O I：

10.1007/978-3-319-11900-7_18

中图分类号：

学科分类号：

摘要：

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. © Springer International Publishing Switzerland 2014.

引用

页码：207 / 218

页数：11

共 25 条

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