The Robot Operating System (ROS) is a widely used framework for building robotic systems. It offers a wide variety of reusable packages and a pattern for new developments. It is up to developers how to combine these elements and integrate them with decision-making for autonomous behavior. The feature of such decision-making that is in general valued the most is safety assurance. In this research preview, we present a formal approach for generating safe autonomous decision-making in ROS. We first describe how to improve our existing static verification approach to verify multi-goal multi-agent decision-making. After that, we describe how to transition from the improved static verification approach to the proposed runtime verification approach. An initial implementation of this research proposal yields promising results.
@article{arxiv.2209.14042,
title = {Generating Safe Autonomous Decision-Making in ROS},
author = {Yi Yang and Tom Holvoet},
journal= {arXiv preprint arXiv:2209.14042},
year = {2022}
}
Comments
In Proceedings FMAS2022 ASYDE2022, arXiv:2209.13181