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A Framework for Verifying the Collision Freeness of Collaborative Robots (Work in Progress)

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Integrated Formal Methods (iFM 2023)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 14300))

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Abstract

Collision avoidance is a major problem when robotic devices are being deployed to perform complex collaborative tasks. We present a vision for a framework that makes it convenient to program collaborative robots and to verify that their behaviour is collision-free. It consists of a domain-specific language that is shallowly embedded in the ROS (Robot Operating System) framework and a translation into a programming language that is deeply embedded in the Isabelle/HOL theorem prover.

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Notes

  1. 1.

    See https://www.andreipopescu.uk/litrev.pdf for a detailed literature review, including the connection with major verification projects such as those pursued at the RoboStar\(^{*}\) center (https://robostar.cs.york.ac.uk).

References

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Acknowledgment

We thank the three anonymous reviewers for their valuable comments and suggestions, which led to the improvement of the presentation.

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Authors and Affiliations

  1. University of Sheffield, Sheffield, UK

    Artur Graczyk, Marialena Hadjikosti & Andrei Popescu

Authors
  1. Artur Graczyk
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  2. Marialena Hadjikosti
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  3. Andrei Popescu
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Corresponding author

Correspondence to Artur Graczyk .

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Editors and Affiliations

  1. Embedded Systems Group, University of Münster, Münster, Germany

    Paula Herber

  2. Eindhoven University of Technology, Eindhoven, The Netherlands

    Anton Wijs

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© 2024 The Author(s), under exclusive license to Springer Nature Switzerland AG

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Graczyk, A., Hadjikosti, M., Popescu, A. (2024). A Framework for Verifying the Collision Freeness of Collaborative Robots (Work in Progress). In: Herber, P., Wijs, A. (eds) Integrated Formal Methods. iFM 2023. Lecture Notes in Computer Science, vol 14300. Springer, Cham. https://doi.org/10.1007/978-3-031-47705-8_22

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  • DOI: https://doi.org/10.1007/978-3-031-47705-8_22

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-47704-1

  • Online ISBN: 978-3-031-47705-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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