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SOTER on ROS: A Run-Time Assurance Framework on the Robot Operating System

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Runtime Verification (RV 2020)

Part of the book series: Lecture Notes in Computer Science ((LNPSE,volume 12399))

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Abstract

We present an implementation of SOTER, a run-time assurance framework for building safe distributed mobile robotic (DMR) systems, on top of the Robot Operating System (ROS). The safety of DMR systems cannot always be guaranteed at design time, especially when complex, off-the-shelf components are used that cannot be verified easily. SOTER addresses this by providing a language-based approach for run-time assurance for DMR systems. SOTER implements the reactive robotic software using the language P, a domain-specific language designed for implementing asynchronous event-driven systems, along with an integrated run-time assurance system that allows programmers to use unfortified components but still provide safety guarantees. We describe an implementation of SOTER for ROS and demonstrate its efficacy using a multi-robot surveillance case study, with multiple run-time assurance modules. Through rigorous simulation, we show that SOTER enabled systems ensure safety, even when using unknown and untrusted components.

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Notes

  1. 1.

    https://www.ros.org.

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Acknowledgments

This work is supported in part by NSF grant CNS-1545126, the DARPA Assured Autonomy program, Berkeley Deep Drive, and by the iCyPhy center.

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Authors and Affiliations

  1. University of California, Berkeley, USA

    Sumukh Shivakumar, Hazem Torfah & Sanjit A. Seshia

  2. Amazon, Cupertino, CA, USA

    Ankush Desai

Authors
  1. Sumukh Shivakumar
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  2. Hazem Torfah
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  3. Ankush Desai
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  4. Sanjit A. Seshia
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Corresponding author

Correspondence to Hazem Torfah .

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Editors and Affiliations

  1. University of Southern California, Los Angeles, CA, USA

    Jyotirmoy Deshmukh

  2. AIT Austrian Institute of Technology GmbH, Vienna, Austria

    Dejan Ničković

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Shivakumar, S., Torfah, H., Desai, A., Seshia, S.A. (2020). SOTER on ROS: A Run-Time Assurance Framework on the Robot Operating System. In: Deshmukh, J., Ničković, D. (eds) Runtime Verification. RV 2020. Lecture Notes in Computer Science(), vol 12399. Springer, Cham. https://doi.org/10.1007/978-3-030-60508-7_10

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  • DOI: https://doi.org/10.1007/978-3-030-60508-7_10

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-60507-0

  • Online ISBN: 978-3-030-60508-7

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