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...