Assumption Monitoring Using Runtime Verification for UAV Temporal Task Plan Executions
Sebastián Zudaire,Felipe Gorostiaga,César Sánchez,Gerardo Schneider,Sebastián Uchitel,Sebastián Zudaire,Felipe Gorostiaga,César Sánchez,Gerardo Schneider,Sebastián Uchitel
Temporal task planning guarantees a robot will succeed in its task as long as certain explicit and implicit assumptions about the robot’s operating environment, sensors, and capabilities hold. A robot executing a plan can silently fail to fulfill the task if the assumptions are violated at runtime. Monitoring assumption violations at runtime can flag silent failures and also provide mitigation and...
