CONtext-aware VerifIable dyNamiC dEliberation

近年来，机器人越来越多地部署在严格控制的环境之外。当面对意外情况时，这些机器人往往无法采取适当的行动，需要人工干预。该项目的目标是通过自主和无监督的适应环境和操作环境，提高机器人在非结构化环境中稳健、安全地执行复杂任务的能力。更具体地说，关键贡献是开发认知审议能力，确保机器人在没有人为干预的情况下长时间安全运行。这些功能将集成到模型驱动的软件工具链中，允许开发人员构建特定于应用程序的审议系统，能够i)确定完成给定任务所需的机器人行为，同时考虑机器人操作的环境和以前执行相同任务时获得的经验，ii)部署和配置执行这些行为所需的组件。Iii)自动化行为分析，以确保它们是安全可靠的，利用正式的模型和工具进行设计时和运行时验证。工具链将基于经过验证的系统建模概念，特别是来自欧盟资助的项目RobMoSys。主要部件应该是开源的，带有相关机器人框架（如机器人操作系统（ROS））的适配器。为了确保在现实世界的适用性，CONVINCE将在三个不同的现实用例中演示项目中开发的技术，每个用例都有独特的技术难点，并在不同的应用领域中使用越来越复杂的机器人系统：真空吸尘器机器人、装配机器人和机器人博物馆导游。

In recent years, robots are being increasingly deployed outside strictly controlled environments. When faced with unexpected situations, these robots are often incapable of taking appropriate action and require human intervention. The goal of CONVINCE is to advance the capabilities of robots to perform complex tasks robustly and safely within unstructured environments via autonomous and unsupervised adaptation to the environment and operational context. More specifically, the key contribution is to develop cognitive deliberation capabilities that ensure safe robot operation over extended periods of time without human intervention. These capabilities will be integrated into a model-driven software toolchain to allow developers to build application-specific deliberation systems able to i) determine robot’s behaviors required to fulfill a given task, also taking into account the context in which the robot operates and the experience gained during previous executions of the same task, ii) deploy and configure the components that are required to execute these behaviors, iii) automate the analysis of behaviors to ensure that they are safe and secure, leveraging on formal models and tools for design-time and run-time verification. The toolchain shall be based on proven system modeling concepts, particularly from the EU-funded project RobMoSys. Major parts shall be open-sourced with adapters to relevant robotics frameworks like the Robot Operating System (ROS). To ensure real-world applicability, CONVINCE will demonstrate the technology developed in the project on three different realworld use cases, each of which presents unique technical difficulties and utilizes robotic systems of increasing complexity, in different application domains: vacuum cleaner robot, assembly robot, and robotic museum guide.