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

Authors
  • Lesire, Charles
  • Roussel, Stéphanie
  • Doose, David
  • Grand, Christophe
Publication Date
May 20, 2019
Identifiers
DOI: 10.1109/ICRA.2019.8793754
OAI: oai:HAL:hal-02913050v1
Source
HAL-Descartes
Keywords
Language
English
License
Unknown
External links

Abstract

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.

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