Planning and Runtime Monitoring of Robotic Manipulator using Metric Interval Temporal Logic

Abstract

In this work, we present a two-phase planning and runtime monitoring framework for the robotic manipulator given a high-level task specification. In the planning phase, the task is given as a metric interval temporal logic (MITL) formula over a set of propositions satisfied at the regions of the environment. A timed automata based method is used to automatically generate a feasible execution sequence for the manipulator to complete the task with time constraints. For the runtime phase, the manipulator is modeled as a hybrid system and both a model monitor and a safety monitor are designed to ensure the verification results from planning phase apply to the runtime implementation while satisfying additional safety requirements. Our experiments on runtime monitoring of the manipulation task show that the monitors could successfully detect the error behaviors.