ABSTRACT. In this demo, we will illustrate our work on integrating formal verification techniques, in particular probabilistic model checking, to enable long term deployments of mobile service robots in everyday environments. Our framework is based on generating policies for Markov decision process (MDP) models of mobile robots, using (co-safe) linear temporal logic specifications. More specifically, we build MDP models of robot navigation and action execution where the probability of successfully navigating between two locations and the expected time to do so are learnt from experience. For a specification over these models, we maximise the probability of the robot satisfying it, and minimise the expected time to do so. The policy obtained for this objective can be seen as a robot plan with attached probabilistic performance guarantees.

Our proposal is to showcase this framework live during the workshop, deploying our robot in the workshop venue and having it perform tasks throughout the day (the robot is based in the Oxford Robotics Institute, hence it can be easily moved to the workshop venue). In conjunction with showing the live robot behaviour, we will, among other things, provide visualisation of the generated policies on a map of the environment; showcase how the robot keeps track of the performance guarantees calculated offline during policy execution; and show how these guarantees can be used for execution monitoring.