Robust Safety Assurance for Robotic Swarms Using Decentralized Collision Verification
Overview
This paper presents a decentralized safety verification algorithm deployed on an outdoor robotic swarm to prevent collisions in real time. The authors modify and enhance a reachability-based method for collision avoidance on size, weight, and power-constrained uncrewed aerial vehicle (UAV) swarms. Experiments were conducted over 140 total outdoor vehicle flights, including six swarm flights composed of eight UAVs. On average, each agent using the open-source safety_checker library takes approximately 500-520 ms to verify its safety for the next 4 seconds into the future, with the reachable set broadcast time dominating the total verification time (~300-500 ms). The study illustrates challenges in real-world CPS deployments and provides guidance for researchers.
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Event evidence and corrections
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Reported quantity · verification_time_ms: 500 other · Basis not reported
“erimentation progressed. Our extensive experiments show that the proposed decentralized runtime verification approach can efficiently verify the safety of multiple UAVs in real-time and help all agents take safe actions to avoid collisions. On average, each agent, using our open-source safety_checker library, takes approximately 500-520 ms to verify its safety for the next 4 s into the future, in which the reachable”
Exact source · revision 1Source owner not reported
Reported quantity · broadcast_time_ms: 300 other · Basis not reported
“set broadcast time dominates the total verification time (~300-500 ms).”
Exact source · revision 1Source owner not reported
Reported quantity · flight_count: 140 other · reported trials
“strained uncrewed aerial vehicle (UAV) swarm with the objective of illustrating the challenges of real-world CPS deployments as well as provide guidance for researchers in this space. Verification performance, resource utilization, and timing data were gathered over the course of 140 total outdoor vehicle flights, including 6 swarm flights composed of 8 UAVs, and used to improve collision-avoidance performance as exp”
Exact source · revision 1Source owner not reported
Reported quantity · swarm_flight_count: 6 other · reported trials
“strained uncrewed aerial vehicle (UAV) swarm with the objective of illustrating the challenges of real-world CPS deployments as well as provide guidance for researchers in this space. Verification performance, resource utilization, and timing data were gathered over the course of 140 total outdoor vehicle flights, including 6 swarm flights composed of 8 UAVs, and used to improve collision-avoidance performance as exp”
Exact source · revision 1Source owner not reported
Reported quantity · future_horizon_s: 4 other · Basis not reported
“erimentation progressed. Our extensive experiments show that the proposed decentralized runtime verification approach can efficiently verify the safety of multiple UAVs in real-time and help all agents take safe actions to avoid collisions. On average, each agent, using our open-source safety_checker library, takes approximately 500-520 ms to verify its safety for the next 4 s into the future, in which the reachable”
Exact source · revision 1Source owner not reported
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- arXiv Robotics — research abstractsSignalRobust Safety Assurance for Robotic Swarms Using Decentralized Collision Verification
This paper presents a decentralized safety verification algorithm deployed on an outdoor robotic swarm to prevent collisions in real time. The authors modify and enhance a reachability-based method for collision avoidance on size, weight, and power-constrained uncrewed aerial vehicle (UAV) swarms. Experiments were conducted over 140 total outdoor vehicle flights, including six swarm flights composed of eight UAVs. On average, each agent using the open-source safety_checker library takes approximately 500-520 ms to verify its safety for the next 4 seconds into the future, with the reachable set broadcast time dominating the total verification time (~300-500 ms). The study illustrates challenges in real-world CPS deployments and provides guidance for researchers.
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