Assumption Monitoring Using Runtime Verification for UAV Temporal Task Plan Executions
Paper i proceeding, 2021

Temporal task planning guarantees a robot will succeed in its task as long as certain explicit and implicit assumptions about the robot’s operating environment, sensors, and capabilities hold. A robot executing a plan can silently fail to fulfill the task if the assumptions are violated at runtime. Monitoring assumption violations at runtime can flag silent failures and also provide mitigation and remediation opportunities. However, this requires means for describing assumptions combining temporal and quantitative data, automatic construction of correct monitors and ensuring a correct interplay between the planning execution and monitors. In this paper we propose combining temporal planning with stream runtime verification, which offers a high-level language to describe monitors together with guarantees on execution time and memory usage. We demonstrate our approach both in real and simulated flights for some typical mission scenarios.

Författare

Sebastián Zudaire

Universidad Nacional de Cuyo

Felipe Gorostiaga

Consejo Nacional de Investigaciones Cientificas y Tecnicas

IMDEA Software Institute

Universidad Politecnica de Madrid

César Sánchez

IMDEA Software Institute

Gerardo Schneider

Göteborgs universitet

Data Science och AI

Sebastián Uchitel

Imperial College London

Universidad de Buenos Aires

Proceedings - IEEE International Conference on Robotics and Automation

10504729 (ISSN)

Vol. 2021-May 6824-6830

2021 IEEE International Conference on Robotics and Automation, ICRA 2021
Xi'an, China,

Ämneskategorier (SSIF 2025)

Robotik och automation

Datavetenskap (datalogi)

DOI

10.1109/ICRA48506.2021.9561671

Mer information

Senast uppdaterat

2025-06-27