ROSSMARie: A Domain-Specific Language To Express Dynamic Safety Rules and Recovery Strategies for Autonomous Robots
(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)
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/1f001cc1-d441-4fe5-bef9-8a6cdffa4e68
- author
- Rizwan, Momina LU ; Reichenbach, Christoph LU and Krueger, Volker LU
- organization
- publishing date
- 2023
- 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}}, }