A Deployment Framework for Formally Verified Human-Robot Interactions

In the future, assistive robots will spread to everyday settings and regularly interact with humans. This paper introduces a deployment approach for assistive robotic applications where human-robot interaction is the main element. The deployment infrastructure hinges on a model-to-code transformatio...

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Vydané v:	IEEE access Ročník 9; s. 136616 - 136635
Hlavní autori:	Lestingi, Livia, Askarpour, Mehrnoosh, Bersani, Marcello M., Rossi, Matteo
Médium:	Journal Article
Jazyk:	English
Vydavateľské údaje:	Piscataway IEEE 2021 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Predmet:	Automata Codes Human engineering Human-robot interaction Middleware model-driven approach Peer-to-peer computing Robot control robot deployment Robotics Robots service robots Simulation Statistical models Stochastic processes Virtual environments Virtual reality
ISSN:	2169-3536, 2169-3536
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Abstract	In the future, assistive robots will spread to everyday settings and regularly interact with humans. This paper introduces a deployment approach for assistive robotic applications where human-robot interaction is the main element. The deployment infrastructure hinges on a model-to-code transformation technique and a ROS-based middleware layer and enables deployment in real life or simulation in a virtual environment. The approach fits into a model-driven framework for the formal verification of interactive scenarios. At design-time, the application analyst estimates the most likely outcome of the robotic mission through Statistical Model Checking of a Stochastic Hybrid Automata network modeling the scenario. We introduce an innovative approach to convert a specific subset of Stochastic Hybrid Automata into executable code to control the robot and respond to human actions. Deploying or simulating the application allows analysts to validate the results obtained at design time or to refine the formal model based on runs in the real or the virtual scene. The methodology's effectiveness is tested via simulation of use cases from the healthcare setting, which can significantly benefit from this kind of approach thanks to its innovative features related to human physiology and autonomous behavior.
AbstractList	In the future, assistive robots will spread to everyday settings and regularly interact with humans. This paper introduces a deployment approach for assistive robotic applications where human-robot interaction is the main element. The deployment infrastructure hinges on a model-to-code transformation technique and a ROS-based middleware layer and enables deployment in real life or simulation in a virtual environment. The approach fits into a model-driven framework for the formal verification of interactive scenarios. At design-time, the application analyst estimates the most likely outcome of the robotic mission through Statistical Model Checking of a Stochastic Hybrid Automata network modeling the scenario. We introduce an innovative approach to convert a specific subset of Stochastic Hybrid Automata into executable code to control the robot and respond to human actions. Deploying or simulating the application allows analysts to validate the results obtained at design time or to refine the formal model based on runs in the real or the virtual scene. The methodology's effectiveness is tested via simulation of use cases from the healthcare setting, which can significantly benefit from this kind of approach thanks to its innovative features related to human physiology and autonomous behavior.
Author	Lestingi, Livia Bersani, Marcello M. Askarpour, Mehrnoosh Rossi, Matteo
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SubjectTerms	Automata Codes Human engineering Human-robot interaction Middleware model-driven approach Peer-to-peer computing Robot control robot deployment Robotics Robots service robots Simulation Statistical models Stochastic processes Virtual environments Virtual reality
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Title	A Deployment Framework for Formally Verified Human-Robot Interactions
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