Chandler, C. , Porr, B. , Miller, A. and Lafratta, G. (2023) Model Checking for Closed-Loop Robot Reactive Planning. In: Fifth Workshop on Formal Methods for Autonomous Systems (FMAS 2023), Leiden, The Netherlands, 15-16 November 2023, pp. 77-94.
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Publisher's URL: https://cgi.cse.unsw.edu.au/~eptcs/paper.cgi?FMAS2023.6
Abstract
In this paper, we show how model checking can be used to create multi-step plans for a differential drive wheeled robot so that it can avoid immediate danger. Using a small, purpose built model checking algorithm in situ we generate plans in real-time in a way that reflects the egocentric reactive response of simple biological agents. Our approach is based on chaining temporary control systems which are spawned to eliminate disturbances in the local environment that disrupt an autonomous agent from its preferred action (or resting state). The method involves a novel discretization of 2D LiDAR data which is sensitive to bounded stochastic variations in the immediate environment. We operationalise multi-step planning using invariant checking by forward depth-first search, using a cul-de-sac scenario as a first test case. Our results demonstrate that model checking can be used to plan efficient trajectories for local obstacle avoidance, improving on the performance of a reactive agent which can only plan one step. We achieve this in near real-time using no pre-computed data. While our method has limitations, we believe our approach shows promise as an avenue for the development of safe, reliable and transparent trajectory planning in the context of autonomous vehicles.
| Item Type: | Conference Proceedings |
|---|---|
| Additional Information: | This work was supported by a grant from the UKRI Strategic Priorities Fund to the UKRI Research Node on Trustworthy Autonomous Systems Governance and Regulation [EP/V026607/1, 2020-2024]; the UKRI Centre for Doctoral Training in Socially Intelligent Artificial Agents [EP/S02266X/1]; and the UKRI Engineering and Physical Sciences Research Council Doctoral Training Partnership award [EP/T517896/1-312561-05]. |
| Status: | Published |
| Refereed: | Yes |
| Glasgow Author(s) Enlighten ID: | Porr, Dr Bernd and Miller, Professor Alice and Chandler, Mr Christopher and Lafratta, Giulia |
| Authors: | Chandler, C., Porr, B., Miller, A., and Lafratta, G. |
| College/School: | College of Science and Engineering > School of Computing Science College of Science and Engineering > School of Engineering > Biomedical Engineering |
| ISSN: | 2075-2180 |
| Copyright Holders: | Copyright © C. Chandler, B. Porr, A. Miller, and G. Lafratta |
| First Published: | First published in Electronic Proceedings in Theoretical Computer Science 395:77–94 |
| Publisher Policy: | Reproduced under a Creative Commons license |
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