Formalization of Robot Skills with Descriptive and Operational Models

Abstract

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Autonomous Decision-Making With Incomplete Information and Safety Rules Based on Non-Monotonic Reasoning

“…We have implemented the proposed architecture using the ROS2 middleware, with the skill management layer generated from [22], and a specific ROS2 node implementing the decision process in Python/Prolog. The skill model defines 3 data and 9 resources, leading to 12 observable state variables, and 10 skills/actions.…”

“…In order to formalize the interactions with the robot functional we adopted a representation of the robot capabilities and features through a formal skill model [22]. The skills represent the actions in our reasoning model, that can be triggered through the do saf e predicate.…”

Skill-Based Architecture Development for Online Mission Reconfiguration and Failure Management

“…In a previous work [3], we have proposed a specification language for skills, that has deep links with the previously mentioned models. Its specificity is that, first, it includes a rich model of resources through state-machines, and links the skill execution with constraints on these resources; second, the execution of these skills is formally defined, easing code template generation.…”

“…The robotic community has taken a large benefit in using ROS [1], as it helps to structure the architecture in nodes, and gives modularity and flexibility in the design of functional layers. We argue that implementing resilient behaviours for autonomous systems requires to reason on a more abstract level, by manipulating resources or skills [2], [3] instead of nodes and topics needed for internal communication. The robot user would then not need to know how the functions are internally implemented but only what are the capabilities (skills) and resources provided by the robot.…”

“…In the following, we present the development process of a robotic software architecture based on the skill formal model from [3]. Skills are basic functionalities that participate, in a modular manner, to design the complete task or mission of a robotic system.…”