Safety control architecture for personal robots: Behavioural suppression with deliberative control

Woodman, Roger; Winfield, Alan; Harper, Chris; Fraser, Mike

Abstract

This paper presents a novel robot control architecture for use with personal robots, and argues its potential for improving the safety of these types of system, when compared to existing approaches. The proposed architecture design separates the control system into two distinct areas, one area responsible for safe operation and the other for coordinating tasks. The architecture design is formed in a hierarchical structure, composed of low-level deliberative control modules and high-level behavioural safety modules. It is argued that as a result of removing safety considerations from the design of task routines, increasingly complex tasks can be completed safely, which are both more flexible to environmental changes and easier to coordinate.

• Presentation Conference Type: Conference Paper (unpublished)
• Conference Name: 7th IARP Workshop on Technical Challenges for Dependable Robots in Human Environments (DRHE)
• Start Date: Jun 16, 2010
• End Date: Jun 17, 2010
• Deposit Date: May 9, 2023
• Publicly Available Date: Jun 28, 2023
• Keywords: Safety control; personal robots; Behavioural suppression; deliberative control
• Public URL: https://uwe-repository.worktribe.com/output/10773953