Planning and Runtime Monitoring of Robotic Manipulator using Metric Interval Temporal Logic
Authors :
Zhenyu Lin
Conference : 2019 Annual IEEE International Systems Conference (SysCon) pp. 1-8 , Florida
Date: April 08 - April 11, 2019
In this work, we present a two-phase planning and runtime monitoring framework for the robotic manipulator given a high-level task specification. In the planning phase, the task is given as a metric interval temporal logic (MITL) formula over a set of propositions satisfied at the regions of the environment. A timed automata based method is used to automatically generate a feasible execution sequence for the manipulator to complete the task with time constraints. For the runtime phase, the manipulator is modeled as a hybrid system and both a model monitor and a safety monitor are designed to ensure the verification results from planning phase apply to the runtime implementation while satisfying additional safety
requirements. Our experiments on runtime monitoring of the manipulation task show that the monitors could successfully
detect the error behaviors.