Rule-based Dynamic Safety Monitoring for Mobile Robots

摘要: Safety is a key challenge in robotics, particular for mobile robots operating an open and unpredictable environment. To address the safety challenge, various software-based approaches have been proposed, but none of them provide clearly specified isolated layer. In this paper, we propose that safety-critical concerns regarding robot software be explicitly declared separately from main program, terms externally observable properties software. Concretely, use Domain-Specific Language (DSL) to declaratively specify set safety-related rules must obey, as well corresponding corrective actions trigger when are violated. Our DSL, integrated with ROS, shown capable specifying constraints, experimentally demonstrated enforce behaviour existing We believe our approach could extended other fields similarly simplify certification.