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Safe Autonomous Decision-Making with vGOAL

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Advances in Practical Applications of Agents, Multi-Agent Systems, and Cognitive Mimetics. The PAAMS Collection (PAAMS 2023)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 13955))

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Abstract

Safety is one of the crucial features of autonomous systems. Safe decision-making is a critical and challenging task in developing such systems. To address this challenge, we proposed vGOAL, a GOAL-based specification language designed for ensuring safe autonomous decision-making. In this paper, we present an interpreter for vGOAL, serving as an agent-based decision-making component for autonomous systems. Our main contributions are the design and implementation of the vGOAL interpreter, which automatically and efficiently generates safe decisions in real-time, while simultaneously performing safety checking, error handling, and conflict resolution for competing requests. As the Robot Operating System is a popular framework for developing robotic application systems, we integrate the vGOAL interpreter with it via rosbridge. To demonstrate the effectiveness of vGOAL, we validated its performance using a real-world autonomous logistic system comprising three autonomous mobile robots.

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Acknowledgements

This research is partially funded by the Research Fund KU Leuven.

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Authors and Affiliations

  1. imec-DistriNet, KU Leuven, 3001, Leuven, Belgium

    Yi Yang & Tom Holvoet

Authors
  1. Yi Yang
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  2. Tom Holvoet
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Correspondence to Yi Yang .

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Editors and Affiliations

  1. University of Lille, Lille, France

    Philippe Mathieu

  2. Umeå University, Umeå, Sweden

    Frank Dignum

  3. Universidade do Minho, Braga, Portugal

    Paulo Novais

  4. University of Salamanca, Salamanca, Spain

    Fernando De la Prieta

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Yang, Y., Holvoet, T. (2023). Safe Autonomous Decision-Making with vGOAL. In: Mathieu, P., Dignum, F., Novais, P., De la Prieta, F. (eds) Advances in Practical Applications of Agents, Multi-Agent Systems, and Cognitive Mimetics. The PAAMS Collection. PAAMS 2023. Lecture Notes in Computer Science(), vol 13955. Springer, Cham. https://doi.org/10.1007/978-3-031-37616-0_32

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  • DOI: https://doi.org/10.1007/978-3-031-37616-0_32

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-37615-3

  • Online ISBN: 978-3-031-37616-0

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