论文标题
ROS上的SOTER：机器人操作系统上的运行时间保证框架
SOTER on ROS: A Run-Time Assurance Framework on the Robot Operating System
论文作者
论文摘要
我们介绍了SOTER的实现，Soter是在机器人操作系统（ROS）之上建立安全分布式移动机器人（DMR）系统的运行时保证框架。 DMR系统的安全性不能总是在设计时间保证，尤其是当使用无法轻松验证的复杂，现成的组件时。 SOTER通过为DMR系统提供基于语言的运行时间保证来解决此问题。 SOTER使用语言P实现了反应性机器人软件，该语言P是一种特定于域的语言，旨在实现异步事件驱动的系统，以及集成的运行时间保证系统，允许程序员使用不幸的组件，但仍然提供安全保证。我们描述了用于ROS的SOTER的实现，并使用多机器人监视案例研究证明了其功效，并具有多个运行时保证模块。通过严格的模拟，我们表明启用SOTER的系统即使使用未知和未经信任的组件，也可以确保安全。
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.
