"The Fridge Door is Open"-Temporal Verification of a Robotic Assistant's Behaviours

Robotic assistants are being designed to help, or work with, humans in a variety of situations from assistance within domestic situations, through medical care, to industrial settings. Whilst robots have been used in industry for some time they are often limited in terms of their range of movement or range of tasks. A new generation of robotic assistants have more freedom to move, and are able to autonomously make decisions and decide between alternatives. For people to adopt such robots they will have to be shown to be both safe and trustworthy. In this paper we focus on formal verification of a set of rules that have been developed to control the Care-O-bot, a robotic assistant located in a typical domestic environment. In particular, we apply model-checking, an automated and exhaustive algorithmic technique, to check whether formal temporal properties are satisfied on all the possible behaviours of the system. We prove a number of properties relating to robot behaviours, their priority and interruptibility, helping to support both safety and trustworthiness of robot behaviours.