A Safety-Based Decision Making Architecture for Autonomous Systems
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plans the
for performing safety of both
in an autonomous that a plan
system. will violate
self-information
will be introduced.
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reflection
the probability
specification,
This measure is analogous to the reliability self-information by Mclnroy and Saridis, but includes weighting of task conto provide a measure of both reliability and cost. An example the safety self-information is used as a decision robot controller. The safety self-information is with the entropy-based Theory of Intelligent
is concerned the with on minimizing potential
Systems
selecting risk a plan to the
Safety system. obtained system random
for executing
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The analysis is probabilistic from sensors and contained controller variable. contains Safety a degree analysis
Institute Engineering, and Mechanics
New
York
12180-3590
July
1991
z E
CIRSSE
REPORT
#98
m
A Safety-Based Decision Architecture for Autonomous
Joseph C. Musto of Mechanical Engineering, Rensselaer Troy, and and Polytechnic New York July L.K.
Making Systems
Lauderbaugh Aeronautical
i
Department
Engineering, Mechanics Institute 12180-3.590
=
=
31, 1991
m
Abstract Engineering systems designed specifically for space applications often exhibit a high level of autonomy in the control and decision-making architecture. As the level of autonomy increases, more emphasis must be placed hardware on assimilating the safety functions normally executed at the level or by human supervisors into the control architecture of of a decision-making safety. A quantitaself-information, is
guards;
factors,
as perimeter of these
"watchdog" of robot
be categorized approaches with when each from They those the
approaches of accidents
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is to minimize an accident of these and specified fail designed only the safety
approach a task safety
will be demonstrated a dynamic structure the is to be used
of a mobile tool the
environment. machines,
In addition, within
a decision-making Increasing Precision
w
In addition, systems, must operating
operator regard
is considered; to environmena mobile terrain. such the Alas a systhe envi-
of the system
also be taken be necessary hardwired safety features cannot and with system making the the
autonomous highly
ally erate
drawn within
approaches physical to perform the safety to address
a well-defined in unstructured
parameters. particularly ronments. tal hazards in autonomous
Control [5,6].
SSI will be shown with Decreasing
to be consistent Intelligence
2
m
Safety
analysis
Analysis
for autonomous a specified task
for
systems based
Autonomous
in nature; it is assumed that knowledge in the data base of the autonomous of uncertainty, and can be modeled but as a on reliability theory, provides
A SAFETY-BASED ARCHITECTURE FOR
DECISION AUTONOMOUS
MAKING SYSTEMS
by Joseph
N
C. Musto
and
L.K.
Lauderbaugh
=
Rensselaer Department Aeronautical Troy,
Polytechnic of Mechanical Engineering,
Safe operation and constructed. trated teach safety fault-tree issues can of these interference the system Although of highly
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in three pendants, zones analysis
n
to violate paper
an operating a method a task (SS[)
specification for assessing
an urgent of various known as will be a
presents
level of safety A quantity This quantity a task
m
as well as the cation. formulated in a case in the gent This
potential work
hazard and
to the
system The the
caused analysis
by violating for Intelligent with analysis with
that
specifi-
is based
on the Saridis robot the
reliability [2-4]. since performing Hierarchical
Machines obstacle as of for intelliprinciple
by McInroy study
as an exploration to stop the drive around
safety in the
of collision,
would be built must control urgency
fall short be capable decisions must of the a control
into account. to provide
for example, on unknown features, event
robotic though bumper other tem.
I
platform it would system standard A safety of the hazards
is presented in which criterion in a mobile
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shown
to be consistent defined
Machines
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