Verified synthesis of optimal safety controllers for human-robot collaboration

Safety Controller Synthesis for a Mobile Manufacturing Cobot

“…9. In associated works [6,10], we describe the inclusion of entity-modules and behaviour-modules as a system of actors and abstract-actors respectively. The distinction being those that are embodied in the real-world and those that are not.…”

“…For static cobots, an approach for safety-controller synthesis has been developed in the earlier stages of our CSI:Cobot project. Like the solution presented in our paper, this approach [10,11] uses stochastic models to capture the interactions between the cobot and the human operator, and probabilistic model checking to analyse these models. However, unlike the approach we employed for the case study presented in this paper, the previous CSI:Cobot solution from [10,11] does not consider the floorplan of the shop floor, nor the risks associated with the cobot travelling between different shop floor locations and the mitigations for these risks.…”

“…Like the solution presented in our paper, this approach [10,11] uses stochastic models to capture the interactions between the cobot and the human operator, and probabilistic model checking to analyse these models. However, unlike the approach we employed for the case study presented in this paper, the previous CSI:Cobot solution from [10,11] does not consider the floorplan of the shop floor, nor the risks associated with the cobot travelling between different shop floor locations and the mitigations for these risks. Furthermore, the techniques used to augment the activity diagram of the collaborative manufacturing process risks and mitigations, and to derive the process DTMC from the augmented activity diagram represent new contributions of this paper, as does the ICONSYS iAM-R case study.…”

“…By considering a mobile cobot with its additional safety concerns due to the cobot moving between task locations, and by providing a detailed description of our safety controller synthesis, these contributions go beyond existing research papers on the safe use of cobots in manufacturing (e.g., [2,10,26]).…”

Towards Adaptive Planning of Assistive-care Robot Tasks

“…In recent work [8,19], we devised a method for synthesising Pareto-optimal safety controllers to ensure the safety of human operators in collaborative tasks with robots in a manufacturing setting. However, this research was established under the assumption that the operator is a trained user and uncertainty arising due to unpredictable human behaviour is not a critical factor, contrary to this work.…”