Pr\"avention und Beseitigung von Fehlerursachen im Kontext von unbemannten Fahrzeugen

TL;DR

This paper presents a dual approach combining formal verification during planning and rule-based fault prevention during execution to enhance the safety and dependability of autonomous mobile robots.

Contribution

It introduces a novel integrated method for fault prevention and removal in autonomous robots, combining formal verification and rule-based strategies.

Findings

Formal verification improves mission planning reliability.

Rule-based execution enhances fault prevention during operation.

The combined approach increases overall robot dependability.

Abstract

Mobile robots, becoming increasingly autonomous, are capable of operating in diverse and unknown environments. This flexibility allows them to fulfill goals independently and adapting their actions dynamically without rigidly predefined control codes. However, their autonomous behavior complicates guaranteeing safety and reliability due to the limited influence of a human operator to accurately supervise and verify each robot's actions. To ensure autonomous mobile robot's safety and reliability, which are aspects of dependability, methods are needed both in the planning and execution of missions for autonomous mobile robots. In this article, a twofold approach is presented that ensures fault removal in the context of mission planning and fault prevention during mission execution for autonomous mobile robots. First, the approach consists of a concept based on formal verification applied during the planning phase of missions. Second, the approach consists of a rule-based concept applied during mission execution. A use case applying the approach is presented, discussing how the two concepts complement each other and what contribution they make to certain aspects of dependability.