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Formal verification of obstacle avoidance and navigation of ground robots

Stefan Mitsch, Khalil Ghorbal, David Vogelbacher, André Platzer
2017 The international journal of robotics research  
In support of such safety arguments, we analyze and formally verify a series of increasingly powerful safety properties of controllers for avoiding both stationary and moving obstacles: (i) static safety  ...  ) the stronger passive friendly safety in which the robot further maintains sufficient maneuvering distance for obstacles to avoid collision as well, and (iv) passive orientation safety, which allows for  ...  Verification of Ground Robot Motion We want to prove motion safety of a robot whose controller tries to avoid obstacles.  ... 
doi:10.1177/0278364917733549 fatcat:5qthp2qpnvbojf5li6dpafg6ye

On Provably Safe Obstacle Avoidance for Autonomous Robotic Ground Vehicles

Stefan Mitsch, Khalil Ghorbal, Andre Platzer
2013 Robotics: Science and Systems IX  
Thus, safety of motion and obstacle avoidance are vital safety features of such robots.  ...  We formally study two safety properties of avoiding both stationary and moving obstacles: (i) passive safety, which ensures that no collisions can happen while the robot moves, and (ii) the stronger passive  ...  ACKNOWLEDGMENTS This material is based upon work supported by NSF CAREER Award CNS-1054246 and NSF EXPEDITION CNS-0926181, by DARPA FA8750-12-2-0291, and by US DOT UTC TSET award # DTRT12GUTC11.  ... 
doi:10.15607/rss.2013.ix.014 dblp:conf/rss/MitschGP13 fatcat:6suwybwk7rclrdwqr7z5w2ys4a

SafeGuardPF: Safety Guaranteed Reactive Potential Fields for Mobile Robots in Unknown and Dynamic Environments [article]

Rafael Rodrigues da Silva, Samuel Silva, Grigoriy Dubrovskiy, Hai Lin
2016 arXiv   pre-print
An autonomous navigation with proven collision avoidance in unknown and dynamic environments is still a challenge, particularly when there are moving obstacles.  ...  The proposed controller and verification results are demonstrated via simulations and implementation on a Pioneer P3-AT robot.  ...  CERTIFIED REACTIVE POTENTIAL FIELD The main contribution of the current work is to provide a reactive potential field approach SafeGuardPF for mobile robots to avoid moving obstacles, which is formally  ... 
arXiv:1609.07006v1 fatcat:nan356qssresfbenoohwcbwtfq

Computer-Assisted Engineering for Robotics and Autonomous Systems (Dagstuhl Seminar 17071)

Erika Ábrahám, Hadas Kress-Gazit, Lorenzo Natale, Armando Tacchella, Erika Ábrahám, Hadas Kress-Gazit, Lorenzo Natale, Armando Tacchella
2017 Dagstuhl Reports  
Formal Methods are techniques adopted in engineering for the verification of software and hardware systems.  ...  help formalize the language of requirements, models and verification techniques that will have an impact on autonomous systems.  ...  Ghorbal, and A. Platzer: On Provably Safe Obstacle Avoidance for Autonomous Robotic Ground Vehicles. Proceedings of Robotics: Science and Systems, 2013. Althoff, M. Althoff, D. Wollherr, M.  ... 
doi:10.18154/rwth-2018-01213 fatcat:axubp2m4nrd7zbqpfc5y6xupua

A systems engineering approach to collaborative coordination of UAS in the NAS with safety guarantees

Jacob Moschler, Yuchen R. Zhou, John S. Baras, Jungwoo Joh
2014 2014 Integrated Communications, Navigation and Surveillance Conference (ICNS) Conference Proceedings  
We develop on-line control laws that allow for multiple UAS agents to reconfigure to different formations with proofs of safety and convergence while navigating in integrated airspace with piloted air  ...  We develop new fundamental methodologies for high performance and provably safe autonomous and collaborative control and operation of autonomous unmanned aerial systems (UAS) in the national airspace (  ...  Thanks also to Daniel Mellinger, Matthew Turpin, Kmel Robotics and Vijay Kumar's GRASP Laboratory at the University of Pennsylvania for helpful discussions of quadrotor dynamical models.  ... 
doi:10.1109/icnsurv.2014.6820021 fatcat:2ukouen5nff7xp72o36mqwo4i4

Deadlock free dispatching for fleets of vehicles

Franco Mazzanti, Alessio Ferrari, Spagnolo
2019 Zenodo  
Invited talk - Deadlock free dispatching for fleets of vehicles at Forum Méthodes Formelles - "Véhicules Autonomes et Méthodes Formelles" Toulouse, 10 Octobre 2017  ...  This parallel verification process helped to identify faults early but also revealed limitations and pitfalls of software design and verification, which will be discussed. software using formal methods  ...  Vérification formelle du code embarqué 15h00-15h30 « Development and Formal Verification of a Micro-Glider Flight Stack with SPARK » Emanuel Regnath (Technical University of Munich, Munich, Germany) Slides  ... 
doi:10.5281/zenodo.3518010 fatcat:jtpjzw6ntbgctntaf46fyad4n4

Towards the Verification of Safety-critical Autonomous Systems in Dynamic Environments

Adina Aniculaesei, Daniel Arnsberger, Falk Howar, Andreas Rausch
2016 Electronic Proceedings in Theoretical Computer Science  
For autonomous systems operating in dynamic environments, safety of motion and collision avoidance are critical requirements.  ...  In the design phase, we exploit UPPAAL to formalize the autonomous system and its environment as timed automata and the safety property as TCTL formula and to verify the correctness of these models with  ...  The navigation scheme presented in the paper avoids these states in order to achieve collision safety in environments with moving obstacles. Mitsch et al.  ... 
doi:10.4204/eptcs.232.10 fatcat:t35v7z34wrf7xcrbqliadur4by

Formal performance guarantees for an approach to human in the loop robot missions

D. M. Lyons, R. C. Arkin, S. Jiang, M. O'Brien, F. Tang, P. Tang
2017 2017 IEEE International Conference on Systems, Man, and Cybernetics (SMC)  
A key challenge in the automatic verification of robot mission software, especially critical mission software, is to be able to effectively model the performance of a human operator and factor that into  ...  a target for an autonomous ground robot to intercept: one mission in which the operator flies the quadrotor by line of sight to locate the target and one where the operator flies the quadrotor using its  ...  The ground robot is a Pioneer 3-AT equipped with a camera and a front-facing SICK laser scanner for obstacle avoidance. The ground robot is controlled by the FSA (Figure 3. 2) presented earlier.  ... 
doi:10.1109/smc.2017.8122698 dblp:conf/smc/LyonsAJOTT17 fatcat:23nwtdqlnfaq5jibs7f2s5m3wy

Model-driven vision for in-door navigation

Henrik I. Christensen, Niels O. Kirkeby, Steen Kristensen, Lars Knudsen, Erik Granum
1994 Robotics and Autonomous Systems  
In this paper a navigation system for an autonomous mobile robot is presented. Both navigation and sensing is build around a graphics model, which enables prediction of the expected scene content.  ...  The reactive behaviours include use of inverse perspective mapping for generation of occupancy grids, a sonar system and simple gaze holding for monitoring of dynamic obstacles.  ...  A set of primitive actions (determine position, servo landmark, detect obstacle, avoid obstacle, and resume path) has been defined, and the planning selects visual behaviours to accommodate actions.  ... 
doi:10.1016/0921-8890(94)90026-4 fatcat:ewqt56cm3veltn6rvp4xla7awm

Model-driven vision for in-door navigation

Henrik I. Christensen, N. O. S. Kirkeby, Steen Kristensen, L. Knudsen, Paul S. Schenker
1993 Sensor Fusion VI  
In this paper a navigation system for an autonomous mobile robot is presented. Both navigation and sensing is build around a graphics model, which enables prediction of the expected scene content.  ...  The reactive behaviours include use of inverse perspective mapping for generation of occupancy grids, a sonar system and simple gaze holding for monitoring of dynamic obstacles.  ...  A set of primitive actions (determine position, servo landmark, detect obstacle, avoid obstacle, and resume path) has been defined, and the planning selects visual behaviours to accommodate actions.  ... 
doi:10.1117/12.150234 fatcat:ab3ycoilbzc2popm3xma4rsxfy

Provably safe motion of mobile robots in human environments

Stefan B. Liu, Hendrik Roehm, Christian Heinzemann, Ingo Lutkebohle, Jens Oehlerking, Matthias Althoff
2017 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)  
Mobile robots operating in a shared environment with pedestrians are required to move provably safe to avoid harming pedestrians.  ...  We demonstrate that our method reduces the need for stopping while retaining safety guarantees, and thus goals are reached between 1.4 and 3.5 times faster than the standard ROS navigation stack in the  ...  This is despite the fact that our pedestrian simulator is cooperative, i.e. humans attempt to actively avoid the robot, and that the robot also uses a normal obstacle avoidance algorithm (albeit one  ... 
doi:10.1109/iros.2017.8202313 dblp:conf/iros/LiuRHLOA17 fatcat:dcttmu3yj5aw7ctiybphclxtlu

INSPEX: Design and integration of a portable/wearable smart spatial exploration system

S. Lesecq, Julie Foucault, F. Birot, H. de Chaumont, C. Jackson, M. Correvon, P. Heck, R. Banach, A. di Matteo, V. Di Palma, J. Barrett, S. Rea (+3 others)
2017 Design, Automation & Test in Europe Conference & Exhibition (DATE), 2017  
Potential applications range from safer human navigation in reduced visibility, small robot/drone obstacle avoidance systems to navigation for the visually/mobility impaired, this latter being the primary  ...  The INSPEX system will detect and localise in real-time static and mobile obstacles under various environmental conditions in 3D.  ...  Its research and innovation activities started on the 1 st January 2017.  ... 
doi:10.23919/date.2017.7927089 dblp:conf/date/LesecqFBCJCHBMP17 fatcat:3gzwmu6q3famhezaejotgczmbu

Collaborative Verification-Driven Engineering of Hybrid Systems

Stefan Mitsch, Grant Olney Passmore, André Platzer
2014 Mathematics in Computer Science  
Moreover, despite the remarkable progress in automating formal verification of hybrid systems, the construction of proofs of complex systems often requires nontrivial human guidance, since hybrid systems  ...  ., robotics, control systems, computer science, software engineering, and mechanical engineering).  ...  For this we will discuss our formal model of an autonomous robotic ground vehicle and its proof.  ... 
doi:10.1007/s11786-014-0176-y fatcat:urc6l7ssmrdezef2ev72bo6uzq

Modular autonomous robotics platform for educational use

J Lumsden, C Ortega-Sanchez
2010 TENCON 2010 - 2010 IEEE Region 10 Conference  
A navigation and obstacleavoidance Fuzzy Controller is provided to accelerate the typical development process for a mobile robot.  ...  It is a direct response to the high cost and limited functionality of existing platforms.  ...  Section V presents the navigation and obstacle-avoidance fuzzy control system, while the verification and performance evaluation of the platform is presented in Section VI.  ... 
doi:10.1109/tencon.2010.5686047 fatcat:vbxne7bjs5cubbwwcxr6j5wcty

Sensor Information Processing in Robot Competitions and Real World Robotic Challenges

Keiji Nagatani, Alex Kushleyev, Daniel D. Lee
2012 Advanced Robotics  
All robot systems display the latest hardware and software modules needed for accurate localization, navigation, and exploration in difficult environments.  ...  In each case, key robotic research problems addressed by each challenge are presented, and a representative implementation of a robot system is provided.  ...  Each team had several days to practice robot navigation and obstacle avoidance before the semi-final and final rounds.  ... 
doi:10.1080/01691864.2012.694624 fatcat:s72nqbhchfdwfotfrkltc4fghi
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