Experiences in Applying Formal Verification in Robotics

Walter, Dennis; Täubig, Holger; Lüth, Christoph

doi:10.1007/978-3-642-15651-9_26

Cited by 22 publications

(16 citation statements)

References 10 publications

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“…Other formal methods used for robot verification include the application of quantified differential dynamic logic to prove physical location properties for algorithms controlling a surgical robot [7], the use of hybrid automata and statecharts to model and verify a multi-robot rescue scenario [8] and the application of an interactive theorem prover to specify and verify robot collision avoidance algorithms [17].…”

Section: Related Workmentioning

confidence: 99%

“The Fridge Door is Open”–Temporal Verification of a Robotic Assistant’s Behaviours

Dixon

Webster

Saunders

et al. 2014

Lecture Notes in Computer Science

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Abstract. Robotic assistants are being designed to help, or work with, humans in a variety of situations from assistance within domestic situations, through medical care, to industrial settings. Whilst robots have been used in industry for some time they are often limited in terms of their range of movement or range of tasks. A new generation of robotic assistants have more freedom to move, and are able to autonomously make decisions and decide between alternatives. For people to adopt such robots they will have to be shown to be both safe and trustworthy. In this paper we focus on formal verification of a set of rules that have been developed to control the Care-O-bot, a robotic assistant located in a typical domestic environment. In particular, we apply model-checking, an automated and exhaustive algorithmic technique, to check whether formal temporal properties are satisfied on all the possible behaviours of the system. We prove a number of properties relating to robot behaviours, their priority and interruptibility, helping to support both safety and trustworthiness of robot behaviours.

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Section: Related Workmentioning

confidence: 99%

“The Fridge Door is Open”–Temporal Verification of a Robotic Assistant’s Behaviours

Dixon

Webster

Saunders

et al. 2014

Lecture Notes in Computer Science

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“…Our method 2 is the 3D generalization of a 2D collision detection algorithm we presented in [14] [15]. There we used comparable techniques to compute dynamic safety zones that depend on the current motion of a vehicle.…”

Section: Related Workmentioning

confidence: 99%

Real-time swept volume and distance computation for self collision detection

Täubig

Bäuml²,

Frese

2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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We present a real-time self collision detection algorithm applicable for industrial and humanoid robots. The algorithm is based on computing the swept volumes of all bodies and checking them pairwise for collisions. The algorithm operates on joint angle intervals. Such, it does not only test a single or N intermediate configurations but assures safety of a whole movement. Key idea of the new swept volume computation is representing volumes as convex hulls extended by a buffer radius, so called sphere swept convex hulls (SSCH). This leads to tight and compact bounding volumes. The operation set available to model the different joints is strictly conservative and allows for a trade-off between accuracy and computation time. During a configurable timespan the algorithm updates a table of pairwise distances and thus can guarantee hard realtime. It is applied on DLR's humanoid Justin in a sports robotic scenario, where also accuracy and computational performance is evaluated (0.4ms, INTEL T2500@2GHz).

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“…These methods of verification are helpful and easy to use but not enough because they cannot satisfy the security requirements in relevant standards such as IEC 61508 [2]. Safety of algorithms is established by the safety requirements, and the conformance of the algorithm designs or implementations with these must be verified [7]. Formal methods are recommended in some standards like IEC 61508 [2].…”

Section: Introductionmentioning

confidence: 99%

Formal verification of a collision-free algorithm of dual-arm robot in HOL4

Shi

Guan

et al. 2014

2014 IEEE International Conference on Robotics and Automation (ICRA)

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Possessing two manipulators heightens the ability of dual-arm robots (DAR) to conduct complex tasks, while raising hazard that the two manipulators might collide with each other or with other objects. DARs are usually equipped with a collision-free motion planning algorithms (CFMPA) to prevent the two manipulators from colliding. The CFMPA searches the motion paths of robot manipulators, which are expected to be as short and smooth as possible under the premise of ensuring safety. It is important to ensure that the algorithm is correct and efficient. It is not enough to apply traditional test methods to determine whether DARs can work in safety-critical applications. In this paper, theorem proving technology is employed to analyze the correctness and efficiency of a classical CFMPA. The CFMPA is outlined, and then formalized in high order logic with the theorem prover HOL4. An inconsistency in the range of motions of the robot manipulators in the algorithm is discovered. An improved algorithm is therefore proposed. Formal verification with HOL4 proves the correctness and efficiency of the proposed algorithm that has already run on a real DAR as well, in conformity with our expectation.

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Experiences in Applying Formal Verification in Robotics

Cited by 22 publications

References 10 publications

“The Fridge Door is Open”–Temporal Verification of a Robotic Assistant’s Behaviours

“The Fridge Door is Open”–Temporal Verification of a Robotic Assistant’s Behaviours

Real-time swept volume and distance computation for self collision detection

Formal verification of a collision-free algorithm of dual-arm robot in HOL4

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