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ROSSMARie: A Domain-Specific Language To Express Dynamic Safety Rules and Recovery Strategies for Autonomous Robots

Rizwan, Momina LU orcid ; Reichenbach, Christoph LU orcid and Krueger, Volker LU orcid (2023) Second Workshop on Quality and Reliability Assessment of Robotic Software Architectures and Components
Abstract
Ensuring functional safety is a critical challenge for autonomous robots, as they must operate reliably and predictably despite uncertainty. However, existing safety measures can over-constrain the system, limiting the robot’s availability to perform its assigned task. To address this problem, we propose a more flexible strategy that equips robots with the
ability to adapt to system failures and recover from those situations without human intervention. We extend a domain-specific language, Declarative Robot Safety (DeROS), whose runtime stops a robot whenever it violates a safety rule (e.g., proximity to a human). Our extended language, ROSSMARie, adds the capability to monitor whether a rule is no longer violated and to recover and... (More)
Ensuring functional safety is a critical challenge for autonomous robots, as they must operate reliably and predictably despite uncertainty. However, existing safety measures can over-constrain the system, limiting the robot’s availability to perform its assigned task. To address this problem, we propose a more flexible strategy that equips robots with the
ability to adapt to system failures and recover from those situations without human intervention. We extend a domain-specific language, Declarative Robot Safety (DeROS), whose runtime stops a robot whenever it violates a safety rule (e.g., proximity to a human). Our extended language, ROSSMARie, adds the capability to monitor whether a rule is no longer violated and to recover and resume robot operation. We validate ROSSMARie on the ROS-based industrial platform SkiROS2 and verify its effectiveness in achieving safety and availability. Our experiments demonstrate that our DSL extension ensures
functional safety while enabling robots to complete their tasks. (Less)
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author
; and
organization
publishing date
type
Contribution to conference
publication status
published
subject
keywords
Robotics middleware, functional safety, Runtime monitoring, Robot navigation, Robot Manipulator Control, Robot Simulation, Domain Specific Languages
conference name
Second Workshop on Quality and Reliability Assessment of Robotic Software Architectures and Components
conference location
London, United Kingdom
conference dates
2023-06-02 - 2023-06-02
project
Domain-Specific Robot Programming for Reliability, Safety, and Availability
language
English
LU publication?
yes
id
1f001cc1-d441-4fe5-bef9-8a6cdffa4e68
date added to LUP
2023-08-29 15:16:06
date last changed
2023-09-01 03:06:18
@misc{1f001cc1-d441-4fe5-bef9-8a6cdffa4e68,
  abstract     = {{Ensuring functional safety is a critical challenge for autonomous robots, as they must operate reliably and predictably despite uncertainty. However, existing safety measures can over-constrain the system, limiting the robot’s availability to perform its assigned task. To address this problem, we propose a more flexible strategy that equips robots with the<br/>ability to adapt to system failures and recover from those situations without human intervention. We extend a domain-specific language, Declarative Robot Safety (DeROS), whose runtime stops a robot whenever it violates a safety rule (e.g., proximity to a human). Our extended language, ROSSMARie, adds the capability to monitor whether a rule is no longer violated and to recover and resume robot operation. We validate ROSSMARie on the ROS-based industrial platform SkiROS2 and verify its effectiveness in achieving safety and availability. Our experiments demonstrate that our DSL extension ensures<br/>functional safety while enabling robots to complete their tasks.}},
  author       = {{Rizwan, Momina and Reichenbach, Christoph and Krueger, Volker}},
  keywords     = {{Robotics middleware; functional safety; Runtime monitoring; Robot navigation; Robot Manipulator Control; Robot Simulation; Domain Specific Languages}},
  language     = {{eng}},
  title        = {{ROSSMARie: A Domain-Specific Language To Express Dynamic Safety  Rules and Recovery Strategies for Autonomous Robots}},
  year         = {{2023}},
}