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