A Model-driven Approach for the Formal Analysis of Human-Robot Interaction Scenarios

Robots are currently mostly found in industrial settings. In the future, a wider range of environments will benefit from their inclusion. This calls for the development of tools that allow professionals to set up dependable robotic applications in which people productively interact with robots aware...

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Published in:Conference proceedings - IEEE International Conference on Systems, Man, and Cybernetics pp. 1907 - 1914
Main Authors: Lestingi, Livia, Askarpour, Mehrnoosh, Bersani, Marcello M., Rossi, Matteo
Format: Conference Proceeding
Language:English
Published: IEEE 11.10.2020
Subjects:
Human-robot interaction
Model checking
model-driven development
Physiology
Probability
Robots
Service robots
statistical model checking
ISSN:2577-1655
Online Access:Get full text
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Abstract Robots are currently mostly found in industrial settings. In the future, a wider range of environments will benefit from their inclusion. This calls for the development of tools that allow professionals to set up dependable robotic applications in which people productively interact with robots aware of their needs. Given the co-existence of humans and robots, the precise analysis-e.g., through formal verification techniques-of properties related to aspects such as human needs and physiology is of paramount importance. In this paper, we present a formally-based, model-driven approach to design and verify scenarios involving human-robot interactions. Some of the features of our approach are tailored to the healthcare domain, from which our case studies are derived. In our approach, the designer specifies the main parameters of the mission to generate the model of the application, which includes mobile robots, the humans to be served, including some of their physiological features, and the decision-maker that orchestrates the execution. All components are modeled through hybrid automata to capture variables with complex dynamics. The model is verified through Statistical Model Checking (SMC), using the Uppaal tool, to determine the probability of success of the mission. The results are examined by the developer, who iteratively refines the design until the probability of success is satisfactory.
AbstractList Robots are currently mostly found in industrial settings. In the future, a wider range of environments will benefit from their inclusion. This calls for the development of tools that allow professionals to set up dependable robotic applications in which people productively interact with robots aware of their needs. Given the co-existence of humans and robots, the precise analysis-e.g., through formal verification techniques-of properties related to aspects such as human needs and physiology is of paramount importance. In this paper, we present a formally-based, model-driven approach to design and verify scenarios involving human-robot interactions. Some of the features of our approach are tailored to the healthcare domain, from which our case studies are derived. In our approach, the designer specifies the main parameters of the mission to generate the model of the application, which includes mobile robots, the humans to be served, including some of their physiological features, and the decision-maker that orchestrates the execution. All components are modeled through hybrid automata to capture variables with complex dynamics. The model is verified through Statistical Model Checking (SMC), using the Uppaal tool, to determine the probability of success of the mission. The results are examined by the developer, who iteratively refines the design until the probability of success is satisfactory.
Author Lestingi, Livia
Bersani, Marcello M.
Askarpour, Mehrnoosh
Rossi, Matteo
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  surname: Lestingi
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  givenname: Mehrnoosh
  surname: Askarpour
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  givenname: Marcello M.
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  surname: Rossi
  fullname: Rossi, Matteo
  email: askarpom@mcmaster.ca
  organization: Politecnico di Milano,Milan,Italy
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Snippet Robots are currently mostly found in industrial settings. In the future, a wider range of environments will benefit from their inclusion. This calls for the...
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SubjectTerms Human-robot interaction
Model checking
model-driven development
Physiology
Probability
Robots
Service robots
statistical model checking
Title A Model-driven Approach for the Formal Analysis of Human-Robot Interaction Scenarios
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