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arXiv · 2106.15211

A Toolchain to Design, Execute, and Monitor Robots Behaviors

Michele Colledanchise·Giuseppe Cicala·Daniele E. Domenichelli·Lorenzo Natale·Armando Tacchella
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Abstract

In this paper, we present a toolchain to design, execute, and verify robot behaviors. The toolchain follows the guidelines defined by the EU H2020 project RobMoSys and encodes the robot deliberation as a Behavior Tree (BT), a directed tree where the internal nodes model behavior composition and leaf nodes model action or measurement operations. Such leaf nodes take the form of a statechart (SC), which runs in separate threads, whose states perform basic arithmetic operations and send commands to the robot. The toolchain provides the ability to define a runtime monitor for a given system specification that warns the user whenever a given specification is violated. We validated the toolchain in a simulated experiment that we made reproducible in an OS-virtualization environment.

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Michele Colledanchise, Giuseppe Cicala, Daniele E. Domenichelli, Lorenzo Natale, Armando Tacchella. 2021-06-29. A Toolchain to Design, Execute, and Monitor Robots Behaviors. https://arxiv.org/abs/2106.15211

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