Efficiently Obtaining Reachset Conformance for the Formal Analysis of Robotic Contact Tasks
Year: 2024
Type: conference-paper
Abstract: Formal verification of robotic tasks requires a simple yet conformant model of the used robot. We present the first work on generating reachset conformant models for robotic contact tasks considering hybrid (mixed continuous and discrete) dynamics. Reachset conformance requires that the set of reachable outputs of the abstract model encloses all previous measurements to transfer safety properties. Aiming for industrial applications, we describe the system using a simple hybrid automaton with linear dynamics. We inject non-determinism into the continuous dynamics and the discrete transitions, and we optimally identify all model parameters together with the non-determinism required to capture the recorded behaviors. Using two 3-DOF robots, we show that our approach can effectively generate models to capture uncertainties in system behavior and substantially reduce the required testing effort in industrial applications.
Authors: Chencheng Tang, Matthias Althoff
Institution: Technical University of Munich
Language: English
Subfield: Computational Theory and Mathematics
Field: Computer Science
Domain: Physical Sciences
Open Access status: green
Funders: Deutsche Forschungsgemeinschaft, Siemens
OpenAlex ID: W4405787370