# Generating Safe Autonomous Decision-Making in ROS

arXiv: https://arxiv.org/abs/2209.14042 · HTML: https://mlsanity.com/paper/2209.14042/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 28 Sep 2022.

## Built on by (most cited first, 1 of 1)

- [Model Checking for Closed-Loop Robot Reactive Planning](https://mlsanity.com/paper/2311.09780/) (2023)

## Abstract (arXiv)

The Robot Operating System (ROS) is a widely used framework for building robotic systems. It offers a wide variety of reusable packages and a pattern for new developments. It is up to developers how to combine these elements and integrate them with decision-making for autonomous behavior. The feature of such decision-making that is in general valued the most is safety assurance. In this research preview, we present a formal approach for generating safe autonomous decision-making in ROS. We first describe how to improve our existing static verification approach to verify multi-goal multi-agent decision-making. After that, we describe how to transition from the improved static verification approach to the proposed runtime verification approach. An initial implementation of this research proposal yields promising results.