Real-time execution control for autonomous systems

Abstract

There is an increasing need for advanced autonomy in complex embedded real-time systems such as robots, satellites, or UAVs. Still, the growing complexity of the decision capabilities of these systems raises a major problem: how to prove that the system is not going to end in a dangerous state (for itself or for humans)? How to guarantee that the robot will not grab a sample on the ground with its arm, while moving (which could supposedly break the arm)? How to make sure that the satellite RCS jets are not fired when the camera lens protection is off? How do we make sure that a service robot for elderly people is not moving faster than 20cm.s -1 ? This paper presents some recent developments of the LAAS architecture for autonomous systems. In particular, we specify the role of the Execution Control level of this architecture. This level has a fault protection role with respect to the commands issued by the decisional level, which are transmitted to the system (through the functional level). It acts as a real-time {