2020 25th International Conference on Engineering of Complex Computer Systems (ICECCS) 2020
DOI: 10.1109/iceccs51672.2020.00017
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Safety Controller Synthesis for Collaborative Robots

Abstract: In human-robot collaboration (HRC), softwarebased automatic safety controllers (ASCs) are used in various forms (e.g. shutdown mechanisms, emergency brakes, interlocks) to improve operational safety. Complex robotic tasks and increasingly close human-robot interaction pose new challenges to ASC developers and certification authorities. Key among these challenges is the need to assure the correctness of ASCs under reasonably weak assumptions. To address this need, we introduce and evaluate a tool-supported ASC … Show more

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Cited by 13 publications
(24 citation statements)
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“…For example, as illustrated in Table 2, the factor col provides accident handling for the factor ncol, whose likelihood of occurrence under the condition of loc d is high. In [Gle18,GC20], however, we have started to work with a refined factor model including f as well as further phases and events (e.g. for mishap alleviation).…”
Section: Risk Factorsmentioning
confidence: 99%
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“…For example, as illustrated in Table 2, the factor col provides accident handling for the factor ncol, whose likelihood of occurrence under the condition of loc d is high. In [Gle18,GC20], however, we have started to work with a refined factor model including f as well as further phases and events (e.g. for mishap alleviation).…”
Section: Risk Factorsmentioning
confidence: 99%
“…The modelling of modes is akin to the specification of guarded commands (i.e., using the guard and update attributes). We demonstrate in [GC20] how Yap modes can be used for controller synthesis, and in [FGC20] how factor LTSs can be modelled as hybrid automata, simulated in GNU/Octave, and formally verified in Isabelle/UTP.…”
Section: Example: Risk Factors On the Road (Cont'd)mentioning
confidence: 99%
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“…Then, the relevant temporal logic properties are formally verified of C and an appropriate (optimal) controller behaviour C ∈ C is selected (synthesised) from C . For this step, we adopt the approach described in [11,10].…”
Section: Introductionmentioning
confidence: 99%