基于Petri网的技能机器人系统预测运行时验证

Baptiste Pelletier, C. Lesire, Christophe Grand, D. Doose, M. Rognant
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引用次数: 0

摘要

这项工作提出了一种使用Petri网(PN)对机器人系统进行在线监督的新方法,该系统由多个基于技能集的复杂组件组装而成。使用系统pn上的在线模型检查工具,执行预测性运行时验证,警告系统用户可能导致违反安全规范的操作。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Predictive Runtime Verification of Skill-based Robotic Systems using Petri Nets
This work presents a novel approach for the online supervision of robotic systems assembled from multiple complex components with skillset-based architectures, using Petri nets (PN). Predictive runtime verification is performed, which warns the system user about actions that would lead to the violation of safety specifications, using online model-checking tools on the system PNs.
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