Abstract
Robotic research is making huge progress. However, existing solutions are facing a number of challenges preventing them from being used in our everyday tasks: (i) robots operate in unknown environments, (ii) robots collaborate with each other and even with humans, and (iii) robots shall never injure people or create damages. Researchers are targeting those challenges from various perspectives, producing a fragmented research landscape. We aim at providing a comprehensive and replicable picture of the state of the art from a software engineering perspective on existing solutions aiming at managing safety for mobile robotic systems. We apply the systematic mapping methodology on an initial set of 1274 potentially relevant research papers, we selected 58 primary studies and analyzed them according to a systematically-defined classification framework. This work contributes with (i) a classification framework for methods or techniques for managing safety when dealing with the software of mobile robotic systems (MSRs), (ii) a map of current software methods or techniques for software safety for MRSs, (iii) an elaboration on emerging challenges and implications for future research, and (iv) a replication package for independent replication and verification of this study. Our results confirm that generally existing solutions are not yet ready to be used in everyday life. There is the need of turn-key solutions ready to deal with all the challenges mentioned above.
| Original language | English |
|---|---|
| Pages (from-to) | 150-179 |
| Number of pages | 30 |
| Journal | Journal of Systems and Software |
| Volume | 151 |
| Early online date | 11 Feb 2019 |
| DOIs | |
| Publication status | Published - May 2019 |
Funding
Research partly supported from the EU H2020 Research and Innovation Programme under GA No. 731869 (Co4Robots) and from the European Research Council (ERC) under GA No. 681872 (DEMIURGE). Study Title Authors Venue Year P1 ReFrESH: a self-adaptation framework to support fault tolerance in field mobile robots Yanzhe Cui; Richard M. Voyles; Joshua T. Lane; Mohammad H. Mahoor International Conference on Intelligent Robots and Systems (IROS) 2014 P2 ALLIANCE: an architecture for fault tolerant, cooperative control of heterogeneous mobile robots Lynne E. Parker IEEE Transactions on Robotics and Automation 1998 P3 Combining quantitative and qualitative models with active observations for better diagnoses of autonomous mobile robots Gerald Steinbauer; Franz Wotawa Fifth Workshop on Intelligent Solutions in Embedded Systems 2007 P4 Designing autonomous robots Saddek Bensalem; Matthieu Gallien; Félix Ingrand; Imen Kahloul; Thanh-Hung Nguyen IEEE Robotics and Automation Magazine 2009 P5 Model-driven safety assessment of robotic systems Nataliya Yakymets; Souhail Dhouib; Hayat Jaber; Agnes Lanusse International Conference on Intelligent Robots and Systems (IROS) 2013 P6 An integrated model-based diagnosis and repair architecture for ROS-based robot systems Safdar Zaman; Gerald Steinbauer; Johannes Maurer; Peter Lepej; Suzana Uran International Conference on Robotics and Automation (ICRA) 2013 P7 A versatile and safe mobility assistant Axel Lankenau; Thomas Röfer IEEE Robotics and Automation Magazine 2001 P8 Testing the input timing robustness of real-time control software for autonomous systems David Powell; Jean Arlat; Hoang Nam Chu; Félix Ingrand; Marc-Olivier Killijian European Dependable Computing Conference 2012 P9 Building a safe care-providing robot Leila Fotoohi; Axel Gräser IEEE International Conference on Rehabilitation Robotics (ICORR) 2011 P10 Enhancing fault tolerance of autonomous mobile robots Didier Crestani; Karen Godary-Dejean; Lionel Lapierre Robotics and Autonomous Systems 2015 P11 Do whatever works: a robust approach to fault-tolerant autonomous control David W. Payton; David Keirsey; Dan M. Kimble; Jimmy Krozel; J. Kenneth Rosenblatt Applied Intelligence 1992 P12 Towards rule-based dynamic safety monitoring for mobile robots Sorin Adam; Morten Larsen; Kjeld Jensen; Ulrik Pagh Schultz 4th International Conference on Simulation, Modeling, and Programming for Autonomous Robots 2014 P13 SAFER: system-level architecture for failure evasion in real-time applications Junsung Kim; Gaurav Bhatia; Ragunathan Rajkumar; Markus Jochim Real-Time Systems Symposium (RTSS) 2012 P14 Environment rematching: toward dependability improvement for self-adaptive applications Chang Xu; Wenhua Yang; Xiaoxing Ma; Chun Cao International Conference on Automated Software Engineering (ASE) 2013 P15 Formalizing correctness criteria of dynamic updates derived from specification changes Valerio Panzica La Manna; Joel Greenyer; Carlo Ghezzi; Christian Brenner International Symposium on Software Engineering for Adaptive and Self-Managing Systems (SEAMS) 2013 P16 Inconsistencies evaluation mechanisms for an hybrid control architecture with adaptive autonomy Bastien Durand, Karen Godary-Dejean, Lionel Lapierre, Didier Crestani 4th National Conference on Control Architectures of Robots 2009 P17 Inferring and monitoring invariants in robotic systems Hengle Jiang, Sebastian Elbaum; Carrick Detweiler Autonomous Robots 2016 P18 An unifying architectural methodology for robot control design with adaptive fault tolerance W. S. Caldas; M. F. M. Campos; A. O. Fernandes; J. M. Mata IEEE Conference on Emerging Technologies and Factory Automation 2005 P19 Handling sensing failures in autonomous mobile robots Robin R. Murphy; Dave Hershberger The International Journal of Robotics Research 1999 P20 Dependable execution control for autonomous robots Félix Ingrand; Frédéric Py Intelligent Robots and Systems (IROS) 2004 P21 Experience with model-based user-centered risk assessment for service robots Jérémie Guiochet; Damien Martin-Guillerez; David Powell High-Assurance Systems Engineering (HASE) 2010 P22 ADE: a framework for robust complex robotic architectures James Kramer; Matthias Scheutz Intelligent Robots and Systems (IROS) 2006 P23 Using AI techniques for fault localization in component-oriented software systems Jörg Weber; Franz Wotawa Mexican International Conference on Artificial Intelligence 2006 P24 Runtime monitoring of robotics software components: increasing robustness of service robotic systems Alex Lotz; Andreas Steck; Christian Schlegel International Conference on Advanced Robotics (ICAR) 2011 P25 Using controller-synthesis techniques to build property-enforcing layers Karine Altisen; Aurélie Clodic; Florence Maraninchi; Eric Rutten European Symposium on Programming 2003 P26 Timed hazard analysis of self-healing systems Claudia Priesterjahn, Dominik Steenken, Matthias Tichy Assurances for Self-Adaptive Systems 2013 P27 A modeling framework for software architecture specification and validation Nicolas Gobillot; Charles Lesire; David Doose 4th International Conference on Simulation, Modeling, and Programming for Autonomous Robots 2014 P28 A systematic testing approach for autonomous mobile robots using domain-specific languages Martin Proetzsch, Fabian Zimmermann, Robert Eschbach, Johannes Kloos, Karsten Berns Advances in artificial intelligence 2010 P29 A robot fault-tolerance approach based on fault type Bingu Shim; Beomho Baek; Suntae Kim; Sooyong Park International Conference on Quality Software 2009 P30 Fault tolerant framework and techniques for component-based autonomous robot systems Heejune Ahn; Sang Chul Ahn; Junyoung Heo; Sung Y. Shin; Symposium On Applied Computing 2011 P31 Planning with diversified models for fault-tolerant robots. Benjamin Lussier; Matthieu Gallien; Jérémie Guiochet; Félix Ingrand; Marc-Olivier Killijian; David Powell International Conference on Dependable Systems and Networks (DSN’07) 2007 P32 A methodology for testing mobile autonomous robots Jannik Laval; Luc Fabresse; Noury Bouraqadi Intelligent Robots and Systems (IROS) 2013 P33 Environmental hazard analysis - a variant of preliminary hazard analysis for autonomous mobile robots Sanja Dogramadzi; Maria Elena Giannaccini; Christopher Harper; Mohammad Sobhani; Roger Woodman; Jiyeon Choung Journal of Intelligent and Robotic Systems 2014 P34 Rigorous system design flow for autonomous systems Saddek Bensalem, Marius Bozga, Jacques Combaz, and Ahlem Triki International Symposium On Leveraging Applications of Formal Methods, Verification and Validation 2014 P35 Building safer robots: Safety driven control Roger Woodman; Alan F.T. Winfield; Chris Harper The International Journal of Robotics Research 2012 P36 Using logic to handle conflicts between system, component, and infrastructure goals in complex robotic architectures Paul Schermerhorn; Matthias Scheutz International Conference on Robotics and Automation (ICRA) 2010 P37 Distributed fault diagnosis for multiple mobile robots using an agent programming language Márcio G. Morais; Felipe R. Meneguzzi; Rafael H. Bordini; Alexandre M. Amory International Conference on Advanced Robotics (ICAR) 2015 P38 Fault management of robot software components based on OPRoS JongYoung Kim; Heebyung Yoon; SungHoon Kim; Sang Hyuk Son International Symposium on Object/Component/Service-Oriented Real-Time Distributed Computing 2011 P39 Applying the STAMP system safety engineering methodology to the design of a domestic robot Eleftheria Mitka; Spyridon G. Mouroutsos International Journal of Applied Systemic Studies 2015 P40 Applying regression testing to software for robot hardware interaction Geoffrey Biggs IEEE International Conference on Robotics and Automation (ICRA) 2010 P41 Integrating self-health awareness in autonomous systems Karl M. Reichard Robotics and Autonomous Systems 2004 P42 Towards declarative safety rules for perception specification architectures Johann Thor Mogensen Ingibergsson; Ulrik Pagh Schultz; Dirk Kraft International Workshop on Domain-specific Languages and Models for Robotic Systems 2015 P43 Towards an Ethical Robot: Internal Models, Consequences and Ethical Action Selection Alan F. T. Winfield, Christian Blum, Wenguo Liu Conference Towards Autonomous Robotic Systems 2014 P44 Generating certification evidence for autonomous unmanned aircraft using model checking and simulation Matt Webster; Neil Cameron; Mike Jump; Michael Fisher; Journal of Aerospace Information Systems 2014 P45 From AgentSpeak to C for safety considerations in unmanned aerial vehicles Samuel Bucheli, Daniel Kroening, Ruben Martins, and Ashutosh Natraj Conference Towards Autonomous Robotic Systems 2015 P46 Model based safety analysis for an unmanned aerial system Jean-Charles Chaudemar; Eric Bensana; Christel Seguin DRHE 2010 - Dependable Robots in Human Environments 2010 P47 Verifying Brahms human-robot teamwork models Richard Stocker, Louise Dennis, Clare Dixon, Michael Fisher European conference on Logics in Artificial Intelligence 2012 P48 Leveraging collective run-time adaptation for UAV-based systems Darko Bozhinoski; Ivano Malavolta; Antonio Bucchiarone; Annapaola Marconi, 42th Euromicro Conference on Software Engineering and Advanced Applications (SEAA) 2016 P49 Fault tolerant automated task execution in a multi-robot system Stanislaw Ambroszkiewicz; Waldemar Bartyna; Kamil Skarzynski; Marcin Stepniak Proceedings of the 9th International Symposium on Intelligent Distributed Computing 2015 P50 A framework for a fault tolerant multi-robot systems M. Tahir Khan; M. U. Qadir; F. Nasir; C. W. de Silva 10th International Conference on Computer Science and Education (ICCSE) 2015 P51 Adaptive Foraging for Simulated and Real Robotic Swarms: The dynamical response threshold approach Eduardo Castello; Tomoyuki Yamamoto; Fabio Dalla Libera; Wenguo Liu; Alan F. T. Winfield; Yutaka Nakamura; Hiroshi Ishiguro Swarm Intelligence 2016 P52 Model-driven multi-level safety analysis of critical systems Nataliya Yakymets; Matthieu Perin; Agnes Lanusse 9th Annual IEEE International Systems Conference (SysCon) 2015 P53 Online data-driven anomaly detection in autonomous robots Eliahu Khalastchi; Meir Kalech; Gal A. Kaminka; Raz Lin Knowledge and Information Systems 2015 P54 Improving dependability of industrial transport robots using model-based techniques Clemens Mühlbacher, and Stephan Gspandl, and Michael Reip, and Gerald Steinbaue IEEE International Conference on Robotics and Automation (ICRA) 2016 P55 Model-checking and game theory for synthesis of safety rules Mathilde Machin; Fanny Dufossé; Jérémie Guiochet; David Powell; Matthieu Roy; Hélène Waeselynck IEEE 16th International Symposium on High Assurance Systems Engineering 2015 P56 Towards a virtual machine approach to resilient and safe mobile robots Sorin Adam; Marco Kuhrmann; Ulrik Pagh Schultz; IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA) 2016 P57 Hazard analysis of human-robot interactions with HAZOP-UML Jérémie Guiochet Safety Science 2016 P58 Measurement-based real-time analysis of robotic software architectures Nicolas Gobillot, Fabrice Guet, David Doose, Christophe Grand, Charles Lesire, Luca Santinelli IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2016 Darko Bozhinoski is a postdoctoral researcher at IRIDIA, Universite libre de Bruxelles (Brussels, Belgium). His research focuses on software engineering, software architectures, formal methods, self-adaptive systems, and robotics. As a postdoctoral researcher, he is working as part of the DEMIURGE project, a research project funded by the European Commission via an ERC Consolidator Grant. The project is focused on the design of control software for robot swarms. In this project, he is working on a formal specification language for defining swarm missions. He received a Ph.D. in Computer Science from Gran Sasso Science Institute in L’Aquila, Italy in 2017. In 2016, he was awarded the Fulbright Scholarship that enabled him to spend the academic year 2016–2017 at Carnegie Mellon University as a visiting research scholar. More information is available at http://cs.gssi.infn.it/people/bozhinoski . Davide Di Ruscio is Assistant Professor at the Department of Information Engineering Computer Science and Mathematics of the University of L’Aquila. His main research interests are related to several aspects of Model Driven Engineering (MDE) including domain specific modelling languages, model transformations, model differencing, and model evolution. He has published more than 100 papers on such topics. Over the last decade, he has applied MDE techniques in different application domains like service-based software systems, autonomous systems, and open source software (OSS). He has been in the PC and involved in the organization of several workshops and conferences, and reviewer of many journals like IEEE Transactions on Software Engineering, Science of Computer Programming, Software and Systems Modeling, and Journal of Systems and Software. He is member of the steering committee of the International Conference on Model Transformation (ICMT), of the Software Language Engineering (SLE) conference, of the Seminar Series on Advanced Techniques & Tools for Software Evolution (SATTOSE), and of the Workshop on Modelling in Software Engineering at ICSE (MiSE). Currently, he is the technical director of the EU H2020 CROSSMINER project. More information is available at http://www.di.univaq.it/diruscio . Ivano Malavolta is Assistant Professor at the Vrije Universiteit Amsterdam, the Netherlands. His research focuses on data-driven software engineering, software engineering for mobile development, software architecture, model-driven engineering (MDE), and robotics. He is applying empirical methods to assess practices and trends in the field of software engineering. He is program committee member and reviewer of international conferences and journals in his fields of interest. He authored more than 80 papers in international journals and peer-reviewed international conferences proceedings. He received a PhD in computer science from the University of L’Aquila in 2012. He is a member of ACM and IEEE, Amsterdam Data Science, and VERSEN. More information is available at http://www.ivanomalavolta.com . Patrizio Pelliccione is Associate Professor at the Chalmers University of Technology and University of Gothenburg, Sweden, Department of Computer Science and Engineering. He got his PhD in 2005 at the University of L’Aquila (Italy) and from February 1, 2014 he is Docent in Software Engineering, title given by the University of Gothenburg. His research topics are mainly in software engineering, software architectures modelling and verification, autonomous systems, and formal methods. He has co-authored more than 100 publications in journals and international conferences and workshops in these topics. He has been on the program committees for several top conferences and is a reviewer for top journals in the software engineering domain. He is very active in European and National projects. In his research activity he has collaborated with several industries such as Volvo Cars, Volvo AB, Ericsson, Jeppesen, Axis communication, Thales Italia, Selex Marconi telecommunications, Siemens, Saab, TERMA, etc. More information is available at http://www.patriziopelliccione.com . Ivica Crnkovic is a professor of software engineering at Chalmers University and Mälardalen University and a guest professor at the University of Osijek. He is also the director of Chalmers University’s Information and Communication Technology Area of Advance. His research interests include component-based software engineering, software architecture, software development processes, and software engineering for large complex systems. Crnkovic received a PhD in computer science from the University of Zagreb. More information is available at http://www.ivicacrnkovic.net . Research partly supported from the EU H2020 Research and Innovation Programme under GA No. 731869 (Co4Robots) and from the European Research Council (ERC) under GA No. 681872 (DEMIURGE). Appendix A
| Funders | Funder number |
|---|---|
| Horizon 2020 Framework Programme | 681872, 731869 |
| European Metrology Programme for Innovation and Research | Co4Robots |
| European Commission | |
| European Research Council |
Keywords
- Safety for mobile robots
- Software
- Systematic mapping study
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