2020/08/21 by Sumukh Shivakumar, Hazem Torfah, Shivakumar, Sumukh +5
Computer Science · Engineering · #Advanced Software Engineering Methodologies #Artificial Intelligence (cs.AI) #FOS: Computer and information sciences #Formal Methods in Verification #Programming Languages (cs.PL) #Robotics (cs.RO) #Safety Systems Engineering in Autonomy #cs.AI #cs.PL #cs.RO
paper · pdf · doi:10.48550/arxiv.2008.09707
20th International Conference on Runtime Verification
arxiv created 2020/08/21 · openalex publication_date 2020/08/21 · arxiv updated 2020/08/25 · openalex created_date 2022/07/26 · openalex updated_date 2026/07/28
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.