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Authors: Martin Proetzsch 1 ; Karsten Berns 1 ; T. Schuele 2 and K. Schneider 2

Affiliations: 1 Robotics Research Lab, University of Kaiserslautern, Germany ; 2 Reactive Systems Group, University of Kaiserslautern, Germany

ISBN: 978-972-8865-83-2

Keyword(s): Behaviour-based control, formal verification, outdoor robotics.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Modeling, Simulation and Architectures ; Reasoning about Action for Intelligent Robots ; Robotics and Automation ; Vehicle Control Applications

Abstract: This paper presents an approach to the formal verification of safety properties of the behaviour-based control network of the mobile outdoor robot RAVON. In particular, we consider behaviours that are used for the computation of the projected vehicle’s velocity from obstacle proximity sensor data and inclination information. We describe how this group of behaviours is implemented in the synchronous language Quartz in order to be formally verified using model checking techniques of the Averest verification framework. Moreover, by integrating the automatically generated and verified code into the behaviour network, it can be guaranteed that the robot slows down and stops as required by the given safety specifications.

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Paper citation in several formats:
Proetzsch M.; Berns K.; Schuele T.; Schneider K. and (2007). FORMAL VERIFICATION OF SAFETY BEHAVIOURS OF THE OUTDOOR ROBOT RAVON.In Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-972-8865-83-2, pages 157-164. DOI: 10.5220/0001619101570164

@conference{icinco07,
author={Martin Proetzsch and Karsten Berns and T. Schuele and K. Schneider},
title={FORMAL VERIFICATION OF SAFETY BEHAVIOURS OF THE OUTDOOR ROBOT RAVON},
booktitle={Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2007},
pages={157-164},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001619101570164},
isbn={978-972-8865-83-2},
}

TY - CONF

JO - Proceedings of the Fourth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - FORMAL VERIFICATION OF SAFETY BEHAVIOURS OF THE OUTDOOR ROBOT RAVON
SN - 978-972-8865-83-2
AU - Proetzsch, M.
AU - Berns, K.
AU - Schuele, T.
AU - Schneider, K.
PY - 2007
SP - 157
EP - 164
DO - 10.5220/0001619101570164

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