Synthesis of Real-Time Observers from Past-Time Linear Temporal Logic and Timed Specification - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2019

Synthesis of Real-Time Observers from Past-Time Linear Temporal Logic and Timed Specification

Résumé

Fault-tolerant architectures are mandatory to ensure the robustness of autonomous robots performing missions in complex and uncertain environments. The first step of a fault-tolerant mechanism is the detection of a faulty behavior of the system. It is then important to provide tools to help robot developers specify relevant observers. It is moreover crucial to guarantee a correct implementation of the observers, i.e. that the observers do not miss data and do not trigger unsuitable recovery actions in case of false detection. In this paper, we propose a specification language for observers that uses Past-Time LTL to express complex formulas on data produced by software components, and timed constraints on the evaluations of these formulas. We moreover provide an implementation of this specification that guarantees a real-time evaluation of the observers. We briefly describe the observers we have specified for a patrolling mission, and we evaluate the performance of our approach compared to state of the art on a benchmark in which we detect errors on a laser range sensor.
Fichier principal
Vignette du fichier
Lesire2019.pdf (182.08 Ko) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-02913050 , version 1 (02-11-2021)

Licence

Paternité

Identifiants

Citer

Charles Lesire, Stéphanie Roussel, David Doose, Christophe Grand. Synthesis of Real-Time Observers from Past-Time Linear Temporal Logic and Timed Specification. 2019 International Conference on Robotics and Automation (ICRA), May 2019, MONTREAL, Canada. ⟨10.1109/ICRA.2019.8793754⟩. ⟨hal-02913050⟩

Collections

ONERA
29 Consultations
50 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More