论文标题
在ROS中产生安全的自主决策
Generating Safe Autonomous Decision-Making in ROS
论文作者
论文摘要
机器人操作系统（ROS）是用于构建机器人系统的广泛使用的框架。它提供了各种可重复使用的软件包和新开发项目的模式。开发人员如何将这些要素结合在一起，并将它们与自主行为的决策结合在一起。总体上最有价值的决策的特征是安全保证。 在本研究预览中，我们提出了一种正式的方法，用于在ROS中产生安全的自主决策。我们首先描述了如何改善现有的静态验证方法，以验证多目标多代理决策。之后，我们描述了如何从改进的静态验证方法过渡到提出的运行时验证方法。该研究提案的初步实施产生了有希望的结果。
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.
