A Toolchain to Design, Execute, and Monitor Robots Behaviors
Abstract
In this paper, we present a toolchain to design, execute, and verify robot behaviors. The toolchain follows the guidelines defined by the EU H2020 project RobMoSys and encodes the robot deliberation as a Behavior Tree (BT), a directed tree where the internal nodes model behavior composition and leaf nodes model action or measurement operations. Such leaf nodes take the form of a statechart (SC), which runs in separate threads, whose states perform basic arithmetic operations and send commands to the robot. The toolchain provides the ability to define a runtime monitor for a given system specification that warns the user whenever a given specification is violated. We validated the toolchain in a simulated experiment that we made reproducible in an OS-virtualization environment.
Cite
@article{arxiv.2106.15211,
title = {A Toolchain to Design, Execute, and Monitor Robots Behaviors},
author = {Michele Colledanchise and Giuseppe Cicala and Daniele E. Domenichelli and Lorenzo Natale and Armando Tacchella},
journal= {arXiv preprint arXiv:2106.15211},
year = {2022}
}
Comments
arXiv admin note: text overlap with arXiv:2106.12474