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Runtime Verification of Trust-Based Symbolic Robot Motion Planning With Human-in-the-Loop

[+] Author Affiliations
Maziar Fooladi Mahani, Yue Wang

Clemson University, Clemson, SC

Paper No. DSCC2016-9816, pp. V002T24A008; 9 pages
doi:10.1115/DSCC2016-9816
From:
  • ASME 2016 Dynamic Systems and Control Conference
  • Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control
  • Minneapolis, Minnesota, USA, October 12–14, 2016
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5070-1
  • Copyright © 2016 by ASME

abstract

In this paper, we address the runtime verification problem of robot motion planning with human-in-the-loop. By bringing together approaches from runtime verification, trust model, and symbolic motion planning, we developed a framework which guarantees that a robot is able to safely satisfy task specifications while improving task efficiency by switches between human supervision and autonomous motion planning. A simple robot model in a domain path planning scenario is considered and the robot is assumed to have perfect localization capabilities. The task domain is partitioned into a finite number of identical cells. A trust model based on the robot and human performance is used to provide a switching logic between different modes. Model checking techniques are utilized to generate plans in autonomous motion planning and for this purpose, Linear Temporal Logic (LTL) as a task specification language is employed to formally express specifications in model checking. The whole system is implemented in a runtime verification framework to monitor and verifies the system execution at runtime using ROSRV. Finally, we illustrated the effectiveness of this framework as well as its feasibility through a simulated case study.

Copyright © 2016 by ASME
Topics: Robot motion

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