Monitoring Robotic Systems using CSP: From Safety Designs to Safety Monitors
release_kszhgpynrjcyhgleweamayp7fq
by
Matt Luckcuck
2021
Abstract
Runtime Verification (RV) involves monitoring a system to check if it
satisfies or violates a property. It is effective at bridging the reality gap
between design-time assumptions and run-time environments; which is especially
useful for robotic systems, because they operate in the real-world. This paper
presents an RV approach that uses a Communicating Sequential Processes (CSP)
model, derived from natural-language safety documents, as a runtime monitor. We
describe our modelling process and monitoring toolchain, Varanus. The approach
is demonstrated on a teleoperated robotic system, called MASCOT, which enables
remote operations inside a nuclear reactor. We show how the safety design
documents for the MASCOT system were modelled (including how modelling revealed
an underspecification in the document) and evaluate the utility of the Varanus
toolchain. As far as we know, this is the first RV approach to directly use a
CSP model. This approach provides traceability of the safety properties from
the documentation to the system, a verified monitor for RV, and validation of
the safety documents themselves.
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