为农业机器人设计全周期安全验证流程，提前发现设计缺陷。
A Verification Methodology for Safety Assurance of Robotic Autonomous Systems
- 通过系统性风险分析定义安全需求，构建控制器形式化模型。
- 验证结果显示能有效检测安全关键属性问题，支持早期改进。
- 适合需高可靠性的自主机器人开发团队参考使用。
部署于共享人类环境（如农业场景）的自主机器人，需严格的安全部署保障以满足功能可靠性与监管合规要求。这些系统必须在动态、非结构化环境中运行，安全地与人类交互，并有效应对各类潜在风险。本文提出一种覆盖从概念研究、设计到运行时验证的全生命周期安全验证工作流，用于自主农业机器人。方法始于系统的危害分析与风险评估，识别潜在风险并推导出相应的安全要求；随后建立安全控制器的形式化模型，验证其行为是否满足既定安全属性。该方法在田间作业机器人上进行了验证，结果表明其能有效验证安全关键属性，促进设计缺陷的早期发现，有助于提升机器人及自主系统整体安全性。
原文摘要 · Abstract (English)
Autonomous robots deployed in shared human environments, such as agricultural settings, require rigorous safety assurance to meet both functional reliability and regulatory compliance. These systems must operate in dynamic, unstructured environments, interact safely with humans, and respond effectively to a wide range of potential hazards. This paper presents a verification workflow for the safety assurance of an autonomous agricultural robot, covering the entire development life-cycle, from concept study and design to runtime verification. The outlined methodology begins with a systematic hazard analysis and risk assessment to identify potential risks and derive corresponding safety requirements. A formal model of the safety controller is then developed to capture its behaviour and verify that the controller satisfies the specified safety properties with respect to these requirements. The proposed approach is demonstrated on a field robot operating in an agricultural setting. The results show that the methodology can be effectively used to verify safety-critical properties and facilitate the early identification of design issues, contributing to the development of safer robots and autonomous systems.
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