By Topic

Towards language-based verification of robot behaviors

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Cowley, Anthony ; GRASP Laboratory at the University of Pennsylvania, Philadelphia, 19104, USA ; Taylor, C.J.

The management of finite resources is central to many robot behaviors. Some robotic systems must maintain invariants regarding the disposition of feet for balancing, others have grippers for manipulating their environments, while yet others must respect strict rules governing the usage of objects in the environment. Yet the specifics of such resource management responsibilities are almost universally locked behind opaque controllers whose lack of type information greatly impedes rigorous static analysis. We present an application of dependent type theory and linear logic for the static analysis of robot behavior programs that manage both robot and environment state, with a worked assembly task example. This approach offers static, formal guarantees with respect to safety requirements attached to primitive actions, as well as introspection of expected state at each step of a scripted sequence of actions allowing for the automatic generation of dynamic, sensor-based, runtime verification of successful execution.

Published in:

Intelligent Robots and Systems (IROS), 2011 IEEE/RSJ International Conference on

Date of Conference:

25-30 Sept. 2011