Predictive Runtime Verification of Skill-based Robotic Systems using Petri Nets

Published: 01 Jan 2023, Last Modified: 17 Oct 2024ICRA 2023EveryoneRevisionsBibTeXCC BY-SA 4.0
Abstract: 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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