Action planning for autonomous systems with respect to safety aspects

Ertle, Philipp; Gamrad, Dennis; Voos, Holger; Söffker, Dirk

doi:10.1109/icsmc.2010.5641937

Cited by 3 publications

(6 citation statements)

References 18 publications

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“…These works actually do not focus on faults in the planner itself but rather on the planner capacity to cover errors coming from other layers. For instance, in [123], the decision level integrates mechanisms to deal with environment hazards. The planner has a model of reachable states, and it checks if safety properties are respected.…”

Section: Decisional Layermentioning

confidence: 99%

Safety-critical advanced robots: A survey

Guiochet

Machin

Waeselynck

2017

Robotics and Autonomous Systems

178

101

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Developing advanced robotics applications is now facing the confidence issue for users, which is a main limitation for their deployment in real life. This confidence could be justified by the use of dependability techniques as it is done in other safety critical applications. However, due to specific robotic properties (such as continuous human-robot physical interaction or non deterministic deliberative layer), many techniques need to be adapted or revised. This paper reviews the main issues and research work in the field of dependable robots, making the link between the dependability and robotics concepts. It also presents main challenges for increasing robot dependability.

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Section: Decisional Layermentioning

confidence: 99%

Safety-critical advanced robots: A survey

Guiochet

Machin

Waeselynck

2017

Robotics and Autonomous Systems

178

101

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“…Furthermore, an emerald can be picked up to increase the number of collected points. This is no Figure 8.10: The simulation example -the arcade game (Ertle et al, 2010a).…”

Section: Risk-sensitive Planning Experimentsmentioning

confidence: 99%

“…Figure 8.7: Safety clearance delivers risk value for risks with a distance of one (left part) or two (right part) operators. The 'future' risky situation s 3 can already be taken into account in s 2 or s 1 (Ertle et al, 2010a).…”

Section: Safety Clearance To Critical Situationsmentioning

confidence: 99%

“…Thus, in order to realize a situation risk-aware system it is described in this work how the required safety-related knowledge base is connected to the respective cognitive functions in order to realize that hazards are adequately considered within the perception and planning process (cf. Ertle et al, 2012cErtle et al, , 2010aErtle et al, ,c, 2012aErtle et al, , 2010b.…”

Section: Observationmentioning

confidence: 99%

“…It generates paths considering its costs. Thus, each transition from s i → s j costs (Ertle et al, 2010a).…”

Section: Risk-sensitive Planning Experimentsmentioning

confidence: 99%

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Safety of Autonomous Cognitive-oriented Robots

Ertle¹

2015

Künstl Intell

Self Cite

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Service robots shall very soon autonomously provide services in all spheres of life. They have to execute demanding and complex tasks in a dynamic environment, collaborate with human users in a natural and intuitive way and adapt themselves to varying conditions. It can be assumed that complex robots have to be able to learn, if they shall be able to provide complex tasks in unstructured environments in an autonomous fashion. The capability to 'act autonomously' is often mentioned in conjunction with robots, however, the perception and understanding of the term autonomy varies among the different research fields. Therefore, a closer look is taken at robot autonomy and intelligence, in particular, with regard to current and future robots. From this perspective, implications for safety are derived concerning safe autonomous behavior.In order to push forward the robot safety in the light of safe behavior in complex environments, a novel classification of robot hazards is provided. Based on this, the so-called object interaction hazards are derived which arise when objects that are, for instance, located in the near environment, interact with objects that are manipulated by a robot. Taking into account the current state-of-the-art, it can be stated that this denotes a novel problem area. This problem area is so far addressed neither in current research work, nor in the relevant standards.The new type of hazards can be assigned to a group of hazards that originate from the interaction with a complex and unstructured environment. In order to sufficiently consider the environment and operation context, the robot has to be aware of it. In the field of cognitive (technical and biological) systems, this key capability can be called 'situation awareness ' (cf. Söffker, 2008). Based on Endsley (1995)'s definition of situation awareness, Wardziński (2008) proposes the 'dynamic risk assessment' approach, which shall enable the robot perceive the risk of current and upcoming situations. In order to realize such a risk-aware planning system for the first time, dynamic risk assessment is integrated within a cognitive architecture in order to utilize cognitive functions, such as anticipation, planning and learning. Here, the so-called action spaces (sets of possible upcoming situations) are dynamically anticipated within the underlying cognitive architecture, and a risk assessment component assesses them with regard to comprised risks. Thus, the generated risk information can be utilized for a risk-aware action planning. The proper operation of this integrating concept is demonstrated via simulations and with a robot experiment.In order to consider (object interaction) hazards by means of dynamic risk assessment, (initial) knowledge about hazards is required. Thus, a novel procedural model is developed for systematically generating a safety knowledge base. In this connection, the concept is to formalize risk models (risk description rules) in a generalized manner so that they remain valid for future, and so far unknown si...

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A hierarchical fault tolerant architecture for an autonomous robot

Favier

Messioux

Guiochet

et al. 2020

2020 50th Annual IEEE/IFIP International Conference on Dependable Systems and Networks Workshops (DSN-W)

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This paper presents a generic approach to specify a fault tolerant robot controller, and its implementation and validation with ROS and Gazebo. The main idea is to implement a fault tolerance strategy using a fault tree and an ordered set of recovery modules. A fault injection campaign has been carried out with a mobile autonomous robot for airport inspection using simulation with Gazebo and ROS. This successful experiment implements a safety-first strategy.

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Action planning for autonomous systems with respect to safety aspects

Cited by 3 publications

References 18 publications

Safety-critical advanced robots: A survey

Safety-critical advanced robots: A survey

Safety of Autonomous Cognitive-oriented Robots

A hierarchical fault tolerant architecture for an autonomous robot

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