Modeling and Analysis of Safety Requirements in Robot Navigation with an Extension of UML MARTE

摘要

This paper presents an extension of the UML MARTE profile for modeling and quantitative analysis of robotic-specific non functional requirements. The UML models of a robot control system annotated with the proposed profile are automatically transformed in the model of a Constraint Satisfaction Problem (CSP). By solving the derived CSP problem, it is possible to adjust the configuration parameters of the control system when the operational scenario changes. In particular, this paper focuses on safety in autonomous navigation. The proposed approach is exemplified with a set of hospital logistics scenarios.